OpenRaiser/Intern-Atlas huggingface dataset:
Topology Design and Position Analysis of a Reconfigurable Modular Hybrid-Parallel Manipulator
Venue: arXiv cs.RO 2021
Year: 2021

In the modern days, manipulators are found in the automated assembly lines of industries that produce products in masses. These manipulators can be used only in one configuration, that is either serial or parallel. In this paper, a new module which has two degrees of freedom is introduced. By connecting the two and three modules in series, 4 and 6 DoF hybrid manipulators can be formed respectively. By erecting 3 modules in parallel and with some minor modifications, a 6 DoF parallel manipulator can be formed. Hence the manipulator is reconfigurable and can be used as hybrid or parallel manipulator by disassembling and assembling. The topology design, forward and inverse position analysis has been done for the two hybrid configurations and the parallel configuration. This manipulator can be used in industries where flexible manufacturing system is to be deployed. The three configurations of the parallel manipulator has been experimentally demonstrated using a graphical user interface (GUI) control through a computer.
Structure and temporal evolution of transportation literature
Venue: arXiv cs.DL 2021
Year: 2021

Fifty years of evolution of the transportation field is revisited at a macro scale using scientometric analysis of all publications in all 39 journals indexed in the category of Transportation by the Web of Science. The size of the literature is estimated to have reached 50,000 documents. At the highest level of aggregation, four major divisions of the literature are differentiated through these analyses, namely (i) network analysis and traffic flow, (ii) economics of transportation and logistics, (iii) travel behaviour, and (iv) road safety. Influential and emerging authors of each division are identified. Temporal trends in transportation research are also investigated via document co-citation analysis. This analysis identifies various major streams of transportation research while determining their approximate time of emergence and duration of activity. It documents topics that have been most trendy at any period of time during the last fifty years. Three clusters associated with the travel behaviour division (collectively embodying topics of land-use, active transportation, residential self-selection, traveller experience/satisfaction, social exclusion and transport/spatial equity), one cluster of statistical modelling of road accidents, and a cluster of network modelling linked predominantly to the notion of macroscopic fundamental diagram demonstrate characteristics of being current hot topics of the field. Three smaller clusters linked predominantly to electric mobility and autonomous/automated vehicles show characteristics of being emerging hot topics. A cluster labelled shared mobility is the youngest emerging cluster. Influential articles within each cluster of references are identified. Additional outcomes are the determination the influential outsiders of the transportation field.
Semantically Self-Aligned Network for Text-to-Image Part-aware Person Re-identification
Venue: arXiv cs.CV 2021
Year: 2021

Text-to-image person re-identification (ReID) aims to search for images containing a person of interest using textual descriptions. However, due to the significant modality gap and the large intra-class variance in textual descriptions, text-to-image ReID remains a challenging problem. Accordingly, in this paper, we propose a Semantically Self-Aligned Network (SSAN) to handle the above problems. First, we propose a novel method that automatically extracts semantically aligned part-level features from the two modalities. Second, we design a multi-view non-local network that captures the relationships between body parts, thereby establishing better correspondences between body parts and noun phrases. Third, we introduce a Compound Ranking (CR) loss that makes use of textual descriptions for other images of the same identity to provide extra supervision, thereby effectively reducing the intra-class variance in textual features. Finally, to expedite future research in text-to-image ReID, we build a new database named ICFG-PEDES. Extensive experiments demonstrate that SSAN outperforms state-of-the-art approaches by significant margins. Both the new ICFG-PEDES database and the SSAN code are available at https://github.com/zifyloo/SSAN.
Dynamic and Static Object Detection Considering Fusion Regions and Point-wise Features
Venue: arXiv cs.CV 2021
Year: 2021

Object detection is a critical problem for the safe interaction between autonomous vehicles and road users. Deep-learning methodologies allowed the development of object detection approaches with better performance. However, there is still the challenge to obtain more characteristics from the objects detected in real-time. The main reason is that more information from the environment's objects can improve the autonomous vehicle capacity to face different urban situations. This paper proposes a new approach to detect static and dynamic objects in front of an autonomous vehicle. Our approach can also get other characteristics from the objects detected, like their position, velocity, and heading. We develop our proposal fusing results of the environment's interpretations achieved of YoloV3 and a Bayesian filter. To demonstrate our proposal's performance, we asses it through a benchmark dataset and real-world data obtained from an autonomous platform. We compared the results achieved with another approach.
A Large-Scale Security-Oriented Static Analysis of Python Packages in PyPI
Venue: arXiv cs.SE 2021
Year: 2021

Different security issues are a common problem for open source packages archived to and delivered through software ecosystems. These often manifest themselves as software weaknesses that may lead to concrete software vulnerabilities. This paper examines various security issues in Python packages with static analysis. The dataset is based on a snapshot of all packages stored to the Python Package Index (PyPI). In total, over 197 thousand packages and over 749 thousand security issues are covered. Even under the constraints imposed by static analysis, (a) the results indicate prevalence of security issues; at least one issue is present for about 46% of the Python packages. In terms of the issue types, (b) exception handling and different code injections have been the most common issues. The subprocess module stands out in this regard. Reflecting the generally small size of the packages, (c) software size metrics do not predict well the amount of issues revealed through static analysis. With these results and the accompanying discussion, the paper contributes to the field of large-scale empirical studies for better understanding security problems in software ecosystems.
ENHANCE (ENriching Health data by ANnotations of Crowd and Experts): A case study for skin lesion classification
Venue: arXiv cs.CV 2021
Year: 2021

We present ENHANCE, an open dataset with multiple annotations to complement the existing ISIC and PH2 skin lesion classification datasets. This dataset contains annotations of visual ABC (asymmetry, border, colour) features from non-expert annotation sources: undergraduate students, crowd workers from Amazon MTurk and classic image processing algorithms. In this paper we first analyse the correlations between the annotations and the diagnostic label of the lesion, as well as study the agreement between different annotation sources. Overall we find weak correlations of non-expert annotations with the diagnostic label, and low agreement between different annotation sources. We then study multi-task learning (MTL) with the annotations as additional labels, and show that non-expert annotations can improve (ensembles of) state-of-the-art convolutional neural networks via MTL. We hope that our dataset can be used in further research into multiple annotations and/or MTL. All data and models are available on Github: https://github.com/raumannsr/ENHANCE.
Real-Time Activity Recognition and Intention Recognition Using a Vision-based Embedded System
Venue: arXiv cs.CV 2021
Year: 2021

With the rapid increase in digital technologies, most fields of study include recognition of human activity and intention recognition, which are essential in smart environments. In this study, we equipped the activity recognition system with the ability to recognize intentions by affecting the pace of movement of individuals in the representation of images. Using this technology in various environments such as elevators and automatic doors will lead to identifying those who intend to pass the automatic door from those who are passing by. This system, if applied in elevators and automatic doors, will save energy and increase efficiency. For this study, data preparation is applied to combine the spatial and temporal features with the help of digital image processing principles. Nevertheless, unlike previous studies, only one AlexNet neural network is used instead of two-stream convolutional neural networks. Our embedded system was implemented with an accuracy of 98.78% on our intention recognition dataset. We also examined our data representation approach on other datasets, including HMDB-51, KTH, and Weizmann, and obtained accuracy of 78.48%, 97.95%, and 100%, respectively. The image recognition and neural network models were simulated and implemented using Xilinx simulators for the Xilinx ZCU102 board. The operating frequency of this embedded system is 333 MHz, and it works in real-time with 120 frames per second (fps).
Individual Survival Curves with Conditional Normalizing Flows
Venue: arXiv cs.LG 2021
Year: 2021

Survival analysis, or time-to-event modelling, is a classical statistical problem that has garnered a lot of interest for its practical use in epidemiology, demographics or actuarial sciences. Recent advances on the subject from the point of view of machine learning have been concerned with precise per-individual predictions instead of population studies, driven by the rise of individualized medicine. We introduce here a conditional normalizing flow based estimate of the time-to-event density as a way to model highly flexible and individualized conditional survival distributions. We use a novel hierarchical formulation of normalizing flows to enable efficient fitting of flexible conditional distributions without overfitting and show how the normalizing flow formulation can be efficiently adapted to the censored setting. We experimentally validate the proposed approach on a synthetic dataset as well as four open medical datasets and an example of a common financial problem.
Task and Situation Structures for Service Agent Planning
Venue: arXiv cs.AI 2021
Year: 2021

Everyday tasks are characterized by their varieties and variations, and frequently are not clearly specified to service agents. This paper presents a comprehensive approach to enable a service agent to deal with everyday tasks in open, uncontrolled environments. We introduce a generic structure for representing tasks, and another structure for representing situations. Based on the two newly introduced structures, we present a methodology of situation handling that avoids hard-coding domain rules while improving the scalability of real-world task planning systems.
Consumer belonging behaviour: Qualitative testing of a theoretical framework and proposal of an alternative model
Venue: arXiv cs.SI 2021
Year: 2021

Much research has been conducted on how consumption is related to human relations, for example, consumer communities organized around specific brands, or the way people use products to define their own identity and transmit a desired image. However, only a scarcity of research has examined the consumption behaviour when the fundamental intention is to leverage group belonging. The literature comprises a single theoretical framework that describes this behaviour, a nascent proposition that has not been tested. This study examines the transferability of that theoretical framework in a different context than the one used for its proposal and its extent on the phenomenon of consuming to leverage belonging. A qualitative deductive case study and a pattern matching analysis technique were employed, followed by a structural coding analysis of interview data. The findings revealed the model is transferable, however its conceptual extent on the phenomenon it addresses faces limitations. These findings allow the proposal of an alternative framework, the Belonging-Oriented Consumption Model. This model provides a theoretical basis for future research on consumer belonging behaviour.
Logical Characterization of Coherent Uninterpreted Programs
Venue: arXiv cs.LO 2021
Year: 2021

An uninterpreted program (UP) is a program whose semantics is defined over the theory of uninterpreted functions. This is a common abstraction used in equivalence checking, compiler optimization, and program verification. While simple, the model is sufficiently powerful to encode counter automata, and, hence, undecidable. Recently, a class of UP programs, called coherent, has been proposed and shown to be decidable. We provide an alternative, logical characterization, of this result. Specifically, we show that every coherent program is bisimilar to a finite state system. Moreover, an inductive invariant of a coherent program is representable by a formula whose terms are of depth at most 1. We also show that the original proof, via automata, only applies to programs over unary uninterpreted functions. While this work is purely theoretical, it suggests a novel abstraction that is complete for coherent programs but can be soundly used on arbitrary uninterpreted (and partially interpreted) programs.
Reinforcement Learning with Formal Performance Metrics for Quadcopter Attitude Control under Non-nominal Contexts
Venue: arXiv cs.AI 2021
Year: 2021

We explore the reinforcement learning approach to designing controllers by extensively discussing the case of a quadcopter attitude controller. We provide all details allowing to reproduce our approach, starting with a model of the dynamics of a crazyflie 2.0 under various nominal and non-nominal conditions, including partial motor failures and wind gusts. We develop a robust form of a signal temporal logic to quantitatively evaluate the vehicle's behavior and measure the performance of controllers. The paper thoroughly describes the choices in training algorithms, neural net architecture, hyperparameters, observation space in view of the different performance metrics we have introduced. We discuss the robustness of the obtained controllers, both to partial loss of power for one rotor and to wind gusts and finish by drawing conclusions on practical controller design by reinforcement learning.
Let Trajectories Speak Out the Traffic Bottlenecks
Venue: arXiv cs.DB 2021
Year: 2021

Traffic bottlenecks are a set of road segments that have an unacceptable level of traffic caused by a poor balance between road capacity and traffic volume. A huge volume of trajectory data which captures real-time traffic conditions in road networks provides promising new opportunities to identify the traffic bottlenecks. In this paper, we define this problem as trajectory-driven traffic bottleneck identification: Given a road network R, a trajectory database T , find a representative set of seed edges of size K of traffic bottlenecks that influence the highest number of road segments not in the seed set. We show that this problem is NP-hard and propose a framework to find the traffic bottlenecks as follows. First, a traffic spread model is defined which represents changes in traffic volume for each road segment over time. Then, the traffic diffusion probability between two connected segments and the residual ratio of traffic volume for each segment can be computed using historical trajectory data. We then propose two different algorithmic approaches to solve the problem. The first one is a best-first algorithm BF, with an approximation ratio of 1-1/e. To further accelerate the identification process in larger datasets, we also propose a sampling-based greedy algorithm SG. Finally, comprehensive experiments using three different datasets compare and contrast various solutions, and provide insights into important efficiency and effectiveness trade-offs among the respective methods.
Channel-Wise Early Stopping without a Validation Set via NNK Polytope Interpolation
Venue: arXiv cs.LG 2021
Year: 2021

State-of-the-art neural network architectures continue to scale in size and deliver impressive generalization results, although this comes at the expense of limited interpretability. In particular, a key challenge is to determine when to stop training the model, as this has a significant impact on generalization. Convolutional neural networks (ConvNets) comprise high-dimensional feature spaces formed by the aggregation of multiple channels, where analyzing intermediate data representations and the model's evolution can be challenging owing to the curse of dimensionality. We present channel-wise DeepNNK (CW-DeepNNK), a novel channel-wise generalization estimate based on non-negative kernel regression (NNK) graphs with which we perform local polytope interpolation on low-dimensional channels. This method leads to instance-based interpretability of both the learned data representations and the relationship between channels. Motivated by our observations, we use CW-DeepNNK to propose a novel early stopping criterion that (i) does not require a validation set, (ii) is based on a task performance metric, and (iii) allows stopping to be reached at different points for each channel. Our experiments demonstrate that our proposed method has advantages as compared to the standard criterion based on validation set performance.
The social dilemma in artificial intelligence development and why we have to solve it
Venue: arXiv cs.AI 2021
Year: 2021

While the demand for ethical artificial intelligence (AI) systems increases, the number of unethical uses of AI accelerates, even though there is no shortage of ethical guidelines. We argue that a possible underlying cause for this is that AI developers face a social dilemma in AI development ethics, preventing the widespread adaptation of ethical best practices. We define the social dilemma for AI development and describe why the current crisis in AI development ethics cannot be solved without relieving AI developers of their social dilemma. We argue that AI development must be professionalised to overcome the social dilemma, and discuss how medicine can be used as a template in this process.
MixFaceNets: Extremely Efficient Face Recognition Networks
Venue: arXiv cs.CV 2021
Year: 2021

In this paper, we present a set of extremely efficient and high throughput models for accurate face verification, MixFaceNets which are inspired by Mixed Depthwise Convolutional Kernels. Extensive experiment evaluations on Label Face in the Wild (LFW), Age-DB, MegaFace, and IARPA Janus Benchmarks IJB-B and IJB-C datasets have shown the effectiveness of our MixFaceNets for applications requiring extremely low computational complexity. Under the same level of computation complexity (< 500M FLOPs), our MixFaceNets outperform MobileFaceNets on all the evaluated datasets, achieving 99.60% accuracy on LFW, 97.05% accuracy on AgeDB-30, 93.60 TAR (at FAR1e-6) on MegaFace, 90.94 TAR (at FAR1e-4) on IJB-B and 93.08 TAR (at FAR1e-4) on IJB-C. With computational complexity between 500M and 1G FLOPs, our MixFaceNets achieved results comparable to the top-ranked models, while using significantly fewer FLOPs and less computation overhead, which proves the practical value of our proposed MixFaceNets. All training codes, pre-trained models, and training logs have been made available https://github.com/fdbtrs/mixfacenets.
Understanding and Generalizing Monotonic Proximity Graphs for Approximate Nearest Neighbor Search
Venue: arXiv cs.IR 2021
Year: 2021

Graph-based algorithms have shown great empirical potential for the approximate nearest neighbor (ANN) search problem. Currently, graph-based ANN search algorithms are designed mainly using heuristics, whereas theoretical analysis of such algorithms is quite lacking. In this paper, we study a fundamental model of proximity graphs used in graph-based ANN search, called Monotonic Relative Neighborhood Graph (MRNG), from a theoretical perspective. We use mathematical proofs to explain why proximity graphs that are built based on MRNG tend to have good searching performance. We also run experiments on MRNG and graphs generalizing MRNG to obtain a deeper understanding of the model. Our experiments give guidance on how to approximate and generalize MRNG to build proximity graphs on a large scale. In addition, we discover and study a hidden structure of MRNG called conflicting nodes, and we give theoretical evidence how conflicting nodes could be used to improve ANN search methods that are based on MRNG.
A Payload Optimization Method for Federated Recommender Systems
Venue: arXiv cs.LG 2021
Year: 2021

We introduce the payload optimization method for federated recommender systems (FRS). In federated learning (FL), the global model payload that is moved between the server and users depends on the number of items to recommend. The model payload grows when there is an increasing number of items. This becomes challenging for an FRS if it is running in production mode. To tackle the payload challenge, we formulated a multi-arm bandit solution that selected part of the global model and transmitted it to all users. The selection process was guided by a novel reward function suitable for FL systems. So far as we are aware, this is the first optimization method that seeks to address item dependent payloads. The method was evaluated using three benchmark recommendation datasets. The empirical validation confirmed that the proposed method outperforms the simpler methods that do not benefit from the bandits for the purpose of item selection. In addition, we have demonstrated the usefulness of our proposed method by rigorously evaluating the effects of a payload reduction on the recommendation performance degradation. Our method achieved up to a 90\% reduction in model payload, yielding only a $\sim$4\% - 8\% loss in the recommendation performance for highly sparse datasets
Is Object Detection Necessary for Human-Object Interaction Recognition?
Venue: arXiv cs.CV 2021
Year: 2021

This paper revisits human-object interaction (HOI) recognition at image level without using supervisions of object location and human pose. We name it detection-free HOI recognition, in contrast to the existing detection-supervised approaches which rely on object and keypoint detections to achieve state of the art. With our method, not only the detection supervision is evitable, but superior performance can be achieved by properly using image-text pre-training (such as CLIP) and the proposed Log-Sum-Exp Sign (LSE-Sign) loss function. Specifically, using text embeddings of class labels to initialize the linear classifier is essential for leveraging the CLIP pre-trained image encoder. In addition, LSE-Sign loss facilitates learning from multiple labels on an imbalanced dataset by normalizing gradients over all classes in a softmax format. Surprisingly, our detection-free solution achieves 60.5 mAP on the HICO dataset, outperforming the detection-supervised state of the art by 13.4 mAP