OpenRaiser/Intern-Atlas huggingface dataset:
Robust ENF Estimation Based on Harmonic Enhancement and Maximum Weight Clique
Venue: arXiv cs.SD 2020
Year: 2020

We present a framework for robust electric network frequency (ENF) extraction from real-world audio recordings, featuring multi-tone ENF harmonic enhancement and graph-based optimal harmonic selection. Specifically, We first extend the recently developed single-tone ENF signal enhancement method to the multi-tone scenario and propose a harmonic robust filtering algorithm (HRFA). It can respectively enhance each harmonic component without cross-component interference, thus further alleviating the effects of unwanted noise and audio content on the much weaker ENF signal. In addition, considering the fact that some harmonic components could be severely corrupted even after enhancement, disturbing rather than facilitating ENF estimation, we propose a graph-based harmonic selection algorithm (GHSA), which finds the optimal combination of harmonic components for more accurate ENF estimation. Noticeably, the harmonic selection problem is equivalently formulated as a maximum weight clique (MWC) problem in graph theory, and the Bron-Kerbosch algorithm (BKA) is adopted in the GHSA. With the enhanced and optimally selected harmonic components, both the existing maximum likelihood estimator (MLE) and weighted MLE (WMLE) are incorporated to yield the final ENF estimation results. The proposed framework is extensively evaluated using both synthetic signals and our ENF-WHU dataset consisting of $130$ real-world audio recordings, demonstrating substantially improved capability of extracting the ENF from realistically noisy observations over the existing single- and multi-tone competitors. This work further improves the applicability of the ENF as a forensic criterion in real-world situations.
Improving Sales Forecasting Accuracy: A Tensor Factorization Approach with Demand Awareness
Venue: arXiv cs.LG 2020
Year: 2020

Due to accessible big data collections from consumers, products, and stores, advanced sales forecasting capabilities have drawn great attention from many companies especially in the retail business because of its importance in decision making. Improvement of the forecasting accuracy, even by a small percentage, may have a substantial impact on companies' production and financial planning, marketing strategies, inventory controls, supply chain management, and eventually stock prices. Specifically, our research goal is to forecast the sales of each product in each store in the near future. Motivated by tensor factorization methodologies for personalized context-aware recommender systems, we propose a novel approach called the Advanced Temporal Latent-factor Approach to Sales forecasting (ATLAS), which achieves accurate and individualized prediction for sales by building a single tensor-factorization model across multiple stores and products. Our contribution is a combination of: tensor framework (to leverage information across stores and products), a new regularization function (to incorporate demand dynamics), and extrapolation of tensor into future time periods using state-of-the-art statistical (seasonal auto-regressive integrated moving-average models) and machine-learning (recurrent neural networks) models. The advantages of ATLAS are demonstrated on eight product category datasets collected by the Information Resource, Inc., where a total of 165 million weekly sales transactions from more than 1,500 grocery stores over 15,560 products are analyzed.
Understanding Pure Character-Based Neural Machine Translation: The Case of Translating Finnish into English
Venue: arXiv cs.CL 2020
Year: 2020

Recent work has shown that deeper character-based neural machine translation (NMT) models can outperform subword-based models. However, it is still unclear what makes deeper character-based models successful. In this paper, we conduct an investigation into pure character-based models in the case of translating Finnish into English, including exploring the ability to learn word senses and morphological inflections and the attention mechanism. We demonstrate that word-level information is distributed over the entire character sequence rather than over a single character, and characters at different positions play different roles in learning linguistic knowledge. In addition, character-based models need more layers to encode word senses which explains why only deeper models outperform subword-based models. The attention distribution pattern shows that separators attract a lot of attention and we explore a sparse word-level attention to enforce character hidden states to capture the full word-level information. Experimental results show that the word-level attention with a single head results in 1.2 BLEU points drop.
Efficient Robust Watermarking Based on Quaternion Singular Value Decomposition and Coefficient Pair Selection
Venue: arXiv cs.CV 2020
Year: 2020

Quaternion singular value decomposition (QSVD) is a robust technique of digital watermarking which can extract high quality watermarks from watermarked images with low distortion. In this paper, QSVD technique is further investigated and an efficient robust watermarking scheme is proposed. The improved algebraic structure-preserving method is proposed to handle the problem of "explosion of complexity" occurred in the conventional QSVD design. Secret information is transmitted blindly by incorporating in QSVD two new strategies, namely, coefficient pair selection and adaptive embedding. Unlike conventional QSVD which embeds watermarks in a single imaginary unit, we propose to adaptively embed the watermark into the optimal hiding position using the Normalized Cross-Correlation (NC) method. This avoids the selection of coefficient pair with less correlation, and thus, it reduces embedding impact by decreasing the maximum modification of coefficient values. In this way, compared with conventional QSVD, the proposed watermarking strategy avoids more modifications to a single color image layer and a better visual quality of the watermarked image is observed. Meanwhile, adaptive QSVD resists some common geometric attacks, and it improves the robustness of conventional QSVD. With these improvements, our method outperforms conventional QSVD. Its superiority over other state-of-the-art methods is also demonstrated experimentally.
An Efficient Scheme for the Generation of Ordered Trees in Constant Amortized Time
Venue: arXiv cs.DS 2020
Year: 2020

Trees are useful entities allowing to model data structures and hierarchical relationships in networked decision systems ubiquitously. An ordered tree is a rooted tree where the order of the subtrees (children) of a node is significant. In combinatorial optimization, generating ordered trees is relevant to evaluate candidate combinatorial objects. In this paper, we present an algebraic scheme to generate ordered trees with $n$ vertices with utmost efficiency; whereby our approach uses $\mathcal{O}(n)$ space and $\mathcal{O}(1)$ time in average per tree. Our computational studies have shown the feasibility and efficiency to generate ordered trees in constant time in average, in about one tenth of a millisecond per ordered tree. Due to the 1-1 bijective nature to other combinatorial classes, our approach is favorable to study the generation of binary trees with $n$ external nodes, trees with $n$ nodes, legal sequences of $n$ pairs of parentheses, triangulated $n$-gons, gambler's sequences and lattice paths. We believe our scheme may find its use in devising algorithms for planning and combinatorial optimization involving Catalan numbers.
Strawberry Detection Using a Heterogeneous Multi-Processor Platform
Venue: arXiv cs.RO 2020
Year: 2020

Over the last few years, the number of precision farming projects has increased specifically in harvesting robots and many of which have made continued progress from identifying crops to grasping the desired fruit or vegetable. One of the most common issues found in precision farming projects is that successful application is heavily dependent not just on identifying the fruit but also on ensuring that localisation allows for accurate navigation. These issues become significant factors when the robot is not operating in a prearranged environment, or when vegetation becomes too thick, thus covering crop. Moreover, running a state-of-the-art deep learning algorithm on an embedded platform is also very challenging, resulting most of the times in low frame rates. This paper proposes using the You Only Look Once version 3 (YOLOv3) Convolutional Neural Network (CNN) in combination with utilising image processing techniques for the application of precision farming robots targeting strawberry detection, accelerated on a heterogeneous multiprocessor platform. The results show a performance acceleration by five times when implemented on a Field-Programmable Gate Array (FPGA) when compared with the same algorithm running on the processor side with an accuracy of 78.3\% over the test set comprised of 146 images.
Evaluation of Motor Imagery-Based BCI methods in neurorehabilitation of Parkinson's Disease patients
Venue: arXiv cs.HC 2020
Year: 2020

The study reports the performance of Parkinson's disease (PD) patients to operate Motor-Imagery based Brain-Computer Interface (MI-BCI) and compares three selected pre-processing and classification approaches. The experiment was conducted on 7 PD patients who performed a total of 14 MI-BCI sessions targeting lower extremities. EEG was recorded during the initial calibration phase of each session, and the specific BCI models were produced by using Spectrally weighted Common Spatial Patterns (SpecCSP), Source Power Comodulation (SPoC) and Filter-Bank Common Spatial Patterns (FBCSP) methods. The results showed that FBCSP outperformed SPoC in terms of accuracy, and both SPoC and SpecCSP in terms of the false-positive ratio. The study also demonstrates that PD patients were capable of operating MI-BCI, although with lower accuracy.
Domain-Aware Unsupervised Hyperspectral Reconstruction for Aerial Image Dehazing
Venue: arXiv cs.CV 2020
Year: 2020

Haze removal in aerial images is a challenging problem due to considerable variation in spatial details and varying contrast. Changes in particulate matter density often lead to degradation in visibility. Therefore, several approaches utilize multi-spectral data as auxiliary information for haze removal. In this paper, we propose SkyGAN for haze removal in aerial images. SkyGAN consists of 1) a domain-aware hazy-to-hyperspectral (H2H) module, and 2) a conditional GAN (cGAN) based multi-cue image-to-image translation module (I2I) for dehazing. The proposed H2H module reconstructs several visual bands from RGB images in an unsupervised manner, which overcomes the lack of hazy hyperspectral aerial image datasets. The module utilizes task supervision and domain adaptation in order to create a "hyperspectral catalyst" for image dehazing. The I2I module uses the hyperspectral catalyst along with a 12-channel multi-cue input and performs effective image dehazing by utilizing the entire visual spectrum. In addition, this work introduces a new dataset, called Hazy Aerial-Image (HAI) dataset, that contains more than 65,000 pairs of hazy and ground truth aerial images with realistic, non-homogeneous haze of varying density. The performance of SkyGAN is evaluated on the recent SateHaze1k dataset as well as the HAI dataset. We also present a comprehensive evaluation of HAI dataset with a representative set of state-of-the-art techniques in terms of PSNR and SSIM.
Fast 3D Modeling of Anthropomorphic Robotic Hands Based on A Multi-layer Deformable Design
Venue: arXiv cs.RO 2020
Year: 2020

Current anthropomorphic robotic hands mainly focus on improving their dexterity by devising new mechanical structures and actuation systems. However, most of them rely on a single structure/system (e.g., bone-only) and ignore the fact that the human hand is composed of multiple functional structures (e.g., skin, bones, muscles, and tendons). This not only increases the difficulty of the design process but also lowers the robustness and flexibility of the fabricated hand. Besides, other factors like customization, the time and cost for production, and the degree of resemblance between human hands and robotic hands, remain omitted. To tackle these problems, this study proposes a 3D printable multi-layer design that models the hand with the layers of skin, tissues, and bones. The proposed design first obtains the 3D surface model of a target hand via 3D scanning, and then generates the 3D bone models from the surface model based on a fast template matching method. To overcome the disadvantage of the rigid bone layer in deformation, the tissue layer is introduced and represented by a concentric tube based structure, of which the deformability can be explicitly controlled by a parameter. Besides, a low-cost yet effective underactuated system is adopted to drive the fabricated hand. The proposed design is tested with 33 widely used object grasping types, as well as special objects like fragile silken tofu, and outperforms previous designs remarkably. With the proposed design, anthropomorphic robotic hands can be produced fast with low cost, and be customizable and deformable.
A Multi-stream Convolutional Neural Network for Micro-expression Recognition Using Optical Flow and EVM
Venue: arXiv cs.CV 2020
Year: 2020

Micro-expression (ME) recognition plays a crucial role in a wide range of applications, particularly in public security and psychotherapy. Recently, traditional methods rely excessively on machine learning design and the recognition rate is not high enough for its practical application because of its short duration and low intensity. On the other hand, some methods based on deep learning also cannot get high accuracy due to problems such as the imbalance of databases. To address these problems, we design a multi-stream convolutional neural network (MSCNN) for ME recognition in this paper. Specifically, we employ EVM and optical flow to magnify and visualize subtle movement changes in MEs and extract the masks from the optical flow images. And then, we add the masks, optical flow images, and grayscale images into the MSCNN. After that, in order to overcome the imbalance of databases, we added a random over-sampler after the Dense Layer of the neural network. Finally, extensive experiments are conducted on two public ME databases: CASME II and SAMM. Compared with many recent state-of-the-art approaches, our method achieves more promising recognition results.
Deep Reinforcement Learning Based Dynamic Power and Beamforming Design for Time-Varying Wireless Downlink Interference Channel
Venue: arXiv cs.IT 2020
Year: 2020

With the high development of wireless communication techniques, it is widely used in various fields for convenient and efficient data transmission. Different from commonly used assumption of the time-invariant wireless channel, we focus on the research on the time-varying wireless downlink channel to get close to the practical situation. Our objective is to gain the maximum value of sum rate in the time-varying channel under the some constraints about cut-off signal-to-interference and noise ratio (SINR), transmitted power and beamforming. In order to adapt the rapid changing channel, we abandon the frequently used algorithm convex optimization and deep reinforcement learning algorithms are used in this paper. From the view of the ordinary measures such as power control, interference incoordination and beamforming, continuous changes of measures should be put into consideration while sparse reward problem due to the abortion of episodes as an important bottleneck should not be ignored. Therefore, with the analysis of relevant algorithms, we proposed two algorithms, Deep Deterministic Policy Gradient algorithm (DDPG) and hierarchical DDPG, in our work. As for these two algorithms, in order to solve the discrete output, DDPG is established by combining the Actor-Critic algorithm with Deep Q-learning (DQN), so that it can output the continuous actions without sacrificing the existed advantages brought by DQN and also can improve the performance. Also, to address the challenge of sparse reward, we take advantage of meta policy from the idea of hierarchical theory to divide one agent in DDPG into one meta-controller and one controller as hierarchical DDPG. Our simulation results demonstrate that the proposed DDPG and hierarchical DDPG performs well from the views of coverage, convergence and sum rate performance.
Towards Resolving the Challenge of Long-tail Distribution in UAV Images for Object Detection
Venue: arXiv cs.CV 2020
Year: 2020

Existing methods for object detection in UAV images ignored an important challenge - imbalanced class distribution in UAV images - which leads to poor performance on tail classes. We systematically investigate existing solutions to long-tail problems and unveil that re-balancing methods that are effective on natural image datasets cannot be trivially applied to UAV datasets. To this end, we rethink long-tailed object detection in UAV images and propose the Dual Sampler and Head detection Network (DSHNet), which is the first work that aims to resolve long-tail distribution in UAV images. The key components in DSHNet include Class-Biased Samplers (CBS) and Bilateral Box Heads (BBH), which are developed to cope with tail classes and head classes in a dual-path manner. Without bells and whistles, DSHNet significantly boosts the performance of tail classes on different detection frameworks. Moreover, DSHNet significantly outperforms base detectors and generic approaches for long-tail problems on VisDrone and UAVDT datasets. It achieves new state-of-the-art performance when combining with image cropping methods. Code is available at https://github.com/we1pingyu/DSHNet
Robust Shape Control of Gyroscopic Tensegrity Robotic Arm
Venue: arXiv cs.RO 2020
Year: 2020

This paper proposes a model-based approach to control the shape of a tensegrity system by driving its node position locations. The nonlinear dynamics of the tensegrity system is used to regulate position, velocity, and acceleration to the specified reference trajectory. State feedback control design is used to obtain the solution for the control variable as a linear programming problem. Shape control for the gyroscopic tensegrity systems is discussed, and it is observed that these systems increase the reachable space for the structure by providing independent control over certain rotational degrees of freedom. Disturbance rejection of the tensegrity system is further studied in the paper. A methodology to calculate the control gains to bound the errors for five different types of problems is provided. The formulation uses a Linear Matrix Inequality (LMI) approach to stipulate the desired performance bounds on the error for $\mathcal{H}_\infty$, generalized $\mathcal{H}_2$, LQR, covariance control and stabilizing control problem. A high degree of freedom tensegrity $T_2D_1$ robotic arm is used as an example to show the efficacy of the formulation.
Implementing Behavior Trees using Three-Valued Logic
Venue: arXiv cs.AI 2020
Year: 2020

With consideration to behavior trees and their relevance to planning and control, within and without game development, the distinction between stateful and stateless models is discussed; a three-valued logic bridging traditional control flow with behavior trees is introduced, and a C# implementation is presented.
MaskBot: Real-time Robotic Projection Mapping with Head Motion Tracking
Venue: arXiv cs.RO 2020
Year: 2020

The projection mapping systems on the human face is limited by the latency and the movement of the users. The area of the projection is restricted by the position of the projectors and the cameras. We are introducing MaskBot, a real-time projection mapping system operated by a 6 Degrees of Freedom (DoF) collaborative robot. The collaborative robot locates the projector and camera in normal position to the face of the user to increase the projection area and to reduce the latency of the system. A webcam is used to detect the face and to sense the robot-user distance to modify the projection size and orientation. MaskBot projects different images on the face of the user, such as face modifications, make-up, and logos. In contrast to the existing methods, the presented system is the first that introduces a robotic projection mapping. One of the prospective applications is to acquire a dataset of adversarial images to challenge face detection DNN systems, such as Face ID.
Open Area Path Finding to Improve Wheelchair Navigation
Venue: arXiv cs.HC 2020
Year: 2020

Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than other users such as pedestrians or wheelchair users. For these users the directed networks of streets and roads do not limit their movements, but their movements may have other limitations, including lower speed of movement, and being more dependent on weather and the pavement surface conditions. This paper proposes and implements a novel path finding algorithm for open areas, i.e. areas with no network of pathways such as grasslands and parks where the conventional graph-based algorithms fail to calculate a practically traversable path. The new method provides multimodality, a higher level of performance, efficiency, and user satisfaction in comparison with currently available solutions. The proposed algorithm creates a new graph in the open area, which can consider the obstacles and barriers and calculate the path based on the factors that are important for wheelchair users. Factors, including slope, width, and surface condition of the routes, are recognised by mining the actual trajectories of wheelchairs users using trajectory mining and machine learning techniques. Unlike raster-based techniques, a graph-based open area path finding algorithm allows the routing to be fully compatible with current transportation routing services, and enables a full multimodal routing service. The implementations and tests show at least a 76.4% similarity between the proposed algorithm outputs and actual wheelchair users trajectories.
Best Practices for Data-Efficient Modeling in NLG:How to Train Production-Ready Neural Models with Less Data
Venue: arXiv cs.CL 2020
Year: 2020

Natural language generation (NLG) is a critical component in conversational systems, owing to its role of formulating a correct and natural text response. Traditionally, NLG components have been deployed using template-based solutions. Although neural network solutions recently developed in the research community have been shown to provide several benefits, deployment of such model-based solutions has been challenging due to high latency, correctness issues, and high data needs. In this paper, we present approaches that have helped us deploy data-efficient neural solutions for NLG in conversational systems to production. We describe a family of sampling and modeling techniques to attain production quality with light-weight neural network models using only a fraction of the data that would be necessary otherwise, and show a thorough comparison between each. Our results show that domain complexity dictates the appropriate approach to achieve high data efficiency. Finally, we distill the lessons from our experimental findings into a list of best practices for production-level NLG model development, and present them in a brief runbook. Importantly, the end products of all of the techniques are small sequence-to-sequence models (2Mb) that we can reliably deploy in production.