OpenRaiser/Intern-Atlas huggingface dataset:
Depth Camera Based Particle Filter for Robotic Osteotomy Navigation
Venue: arXiv cs.RO 2019
Year: 2019

Active surgical robots lack acceptance in clinical practice, because they do not offer the flexibility and usability required for a versatile usage: the systems require a large installation space or a complicated registration step, where the preoperative plan is aligned to the patient and transformed to the base frame of the robot. In this paper, a navigation system for robotic osteotomies is designed, which uses the raw depth images from a camera mounted on the flange of a lightweight robot arm. Consequently, the system does not require any rigid attachment of the robot or fiducials to the bone and the time-consuming registration step is eliminated. Instead, only a coarse initialization is required which improves the usability in surgery. The full six dimensional pose of the iliac crest bone is estimated with a particle filter at a maximum rate of 90 Hz. The presented method is robust against changing lighting conditions, blood or tissue on the bone surface and partial occlusions caused by the surgeons. Proof of the usability in a clinical environment is successfully provided in a corpse study, where surgeons used an augmented reality osteotomy template, which was aligned to bone via the particle filters pose estimates for the resection of transplants from the iliac crest.
Graph Representation learning for Audio & Music genre Classification
Venue: arXiv cs.SD 2019
Year: 2019

Music genre is arguably one of the most important and discriminative information for music and audio content. Visual representation based approaches have been explored on spectrograms for music genre classification. However, lack of quality data and augmentation techniques makes it difficult to employ deep learning techniques successfully. We discuss the application of graph neural networks on such task due to their strong inductive bias, and show that combination of CNN and GNN is able to achieve state-of-the-art results on GTZAN, and AudioSet (Imbalanced Music) datasets. We also discuss the role of Siamese Neural Networks as an analogous to GNN for learning edge similarity weights. Furthermore, we also perform visual analysis to understand the field-of-view of our model into the spectrogram based on genre labels.
A Robust Blind 3-D Mesh Watermarking technique based on SCS quantization and mesh Saliency for Copyright Protection
Venue: arXiv cs.CR 2019
Year: 2019

Due to the recent demand of 3-D meshes in a wide range of applications such as video games, medical imaging, film special effect making, computer-aided design (CAD), among others, the necessity of implementing 3-D mesh watermarking schemes aiming to protect copyright has increased in the last decade. Nowadays, the majority of robust 3-D watermarking approaches have mainly focused on the robustness against attacks while the imperceptibility of these techniques is still a serious challenge. In this context, a blind robust 3-D mesh watermarking method based on mesh saliency and scalar Costa scheme (SCS) for Copyright protection is proposed. The watermark is embedded by quantifying the vertex norms of the 3-D mesh by SCS scheme using the vertex normal norms as synchronizing primitives. The choice of these vertices is based on 3-D mesh saliency to achieve watermark robustness while ensuring high imperceptibility. The experimental results show that in comparison with the alternative methods, the proposed work can achieve a high imperceptibility performance while ensuring a good robustness against several common attacks including similarity transformations, noise addition, quantization, smoothing, elements reordering, etc.
A context sensitive real-time Spell Checker with language adaptability
Venue: arXiv cs.CL 2019
Year: 2019

We present a novel language adaptable spell checking system which detects spelling errors and suggests context sensitive corrections in real-time. We show that our system can be extended to new languages with minimal language-specific processing. Available literature majorly discusses spell checkers for English but there are no publicly available systems which can be extended to work for other languages out of the box. Most of the systems do not work in real-time. We explain the process of generating a language's word dictionary and n-gram probability dictionaries using Wikipedia-articles data and manually curated video subtitles. We present the results of generating a list of suggestions for a misspelled word. We also propose three approaches to create noisy channel datasets of real-world typographic errors. We compare our system with industry-accepted spell checker tools for 11 languages. Finally, we show the performance of our system on synthetic datasets for 24 languages.
Pre-training in Deep Reinforcement Learning for Automatic Speech Recognition
Venue: arXiv cs.SD 2019
Year: 2019

Deep reinforcement learning (deep RL) is a combination of deep learning with reinforcement learning principles to create efficient methods that can learn by interacting with its environment. This led to breakthroughs in many complex tasks that were previously difficult to solve. However, deep RL requires a large amount of training time that makes it difficult to use in various real-life applications like human-computer interaction (HCI). Therefore, in this paper, we study pre-training in deep RL to reduce the training time and improve the performance in speech recognition, a popular application of HCI. We achieve significantly improved performance in less time on a publicly available speech command recognition dataset.
Detecting gender differences in perception of emotion in crowdsourced data
Venue: arXiv cs.CL 2019
Year: 2019

Do men and women perceive emotions differently? Popular convictions place women as more emotionally perceptive than men. Empirical findings, however, remain inconclusive. Most prior studies focus on visual modalities. In addition, almost all of the studies are limited to experiments within controlled environments. Generalizability and scalability of these studies has not been sufficiently established. In this paper, we study the differences in perception of emotion between genders from speech data in the wild, annotated through crowdsourcing. While we limit ourselves to a single modality (i.e. speech), our framework is applicable to studies of emotion perception from all such loosely annotated data in general. Our paper addresses multiple serious challenges related to making statistically viable conclusions from crowdsourced data. Overall, the contributions of this paper are two fold: a reliable novel framework for perceptual studies from crowdsourced data; and the demonstration of statistically significant differences in speech-based emotion perception between genders.
An Empirical Study of Efficient ASR Rescoring with Transformers
Venue: arXiv cs.CL 2019
Year: 2019

Neural language models (LMs) have been proved to significantly outperform classical n-gram LMs for language modeling due to their superior abilities to model long-range dependencies in text and handle data sparsity problems. And recently, well configured deep Transformers have exhibited superior performance over shallow stack of recurrent neural network layers for language modeling. However, these state-of-the-art deep Transformer models were mostly engineered to be deep with high model capacity, which makes it computationally inefficient and challenging to be deployed into large-scale real-world applications. Therefore, it is important to develop Transformer LMs that have relatively small model sizes, while still retaining good performance of those much larger models. In this paper, we aim to conduct empirical study on training Transformers with small parameter sizes in the context of ASR rescoring. By combining techniques including subword units, adaptive softmax, large-scale model pre-training, and knowledge distillation, we show that we are able to successfully train small Transformer LMs with significant relative word error rate reductions (WERR) through n-best rescoring. In particular, our experiments on a video speech recognition dataset show that we are able to achieve WERRs ranging from 6.46% to 7.17% while only with 5.5% to 11.9% parameter sizes of the well-known large GPT model [1], whose WERR with rescoring on the same dataset is 7.58%.
A Survey on Recent Advances in Named Entity Recognition from Deep Learning models
Venue: arXiv cs.CL 2019
Year: 2019

Named Entity Recognition (NER) is a key component in NLP systems for question answering, information retrieval, relation extraction, etc. NER systems have been studied and developed widely for decades, but accurate systems using deep neural networks (NN) have only been introduced in the last few years. We present a comprehensive survey of deep neural network architectures for NER, and contrast them with previous approaches to NER based on feature engineering and other supervised or semi-supervised learning algorithms. Our results highlight the improvements achieved by neural networks, and show how incorporating some of the lessons learned from past work on feature-based NER systems can yield further improvements.
Multimodal Image Outpainting With Regularized Normalized Diversification
Venue: arXiv cs.CV 2019
Year: 2019

In this paper, we study the problem of generating a set ofrealistic and diverse backgrounds when given only a smallforeground region. We refer to this task as image outpaint-ing. The technical challenge of this task is to synthesize notonly plausible but also diverse image outputs. Traditionalgenerative adversarial networks suffer from mode collapse.While recent approaches propose to maximize orpreserve the pairwise distance between generated sampleswith respect to their latent distance, they do not explicitlyprevent the diverse samples of different conditional inputsfrom collapsing. Therefore, we propose a new regulariza-tion method to encourage diverse sampling in conditionalsynthesis. In addition, we propose a feature pyramid dis-criminator to improve the image quality. Our experimen-tal results show that our model can produce more diverseimages without sacrificing visual quality compared to state-of-the-arts approaches in both the CelebA face dataset and the Cityscape scene dataset.
Generating a Common Question from Multiple Documents using Multi-source Encoder-Decoder Models
Venue: arXiv cs.CL 2019
Year: 2019

Ambiguous user queries in search engines result in the retrieval of documents that often span multiple topics. One potential solution is for the search engine to generate multiple refined queries, each of which relates to a subset of the documents spanning the same topic. A preliminary step towards this goal is to generate a question that captures common concepts of multiple documents. We propose a new task of generating common question from multiple documents and present simple variant of an existing multi-source encoder-decoder framework, called the Multi-Source Question Generator (MSQG). We first train an RNN-based single encoder-decoder generator from (single document, question) pairs. At test time, given multiple documents, the 'Distribute' step of our MSQG model predicts target word distributions for each document using the trained model. The 'Aggregate' step aggregates these distributions to generate a common question. This simple yet effective strategy significantly outperforms several existing baseline models applied to the new task when evaluated using automated metrics and human judgments on the MS-MARCO-QA dataset.
Causal inference for climate change events from satellite image time series using computer vision and deep learning
Venue: arXiv cs.LG 2019
Year: 2019

We propose a method for causal inference using satellite image time series, in order to determine the treatment effects of interventions which impact climate change, such as deforestation. Simply put, the aim is to quantify the 'before versus after' effect of climate related human driven interventions, such as urbanization; as well as natural disasters, such as hurricanes and forest fires. As a concrete example, we focus on quantifying forest tree cover change/ deforestation due to human led causes. The proposed method involves the following steps. First, we uae computer vision and machine learning/deep learning techniques to detect and quantify forest tree coverage levels over time, at every time epoch. We then look at this time series to identify changepoints. Next, we estimate the expected (forest tree cover) values using a Bayesian structural causal model and projecting/forecasting the counterfactual. This is compared to the values actually observed post intervention, and the difference in the two values gives us the effect of the intervention (as compared to the non intervention scenario, i.e. what would have possibly happened without the intervention). As a specific use case, we analyze deforestation levels before and after the hyperinflation event (intervention) in Brazil (which ended in 1993-94), for the Amazon rainforest region, around Rondonia, Brazil. For this deforestation use case, using our causal inference framework can help causally attribute change/reduction in forest tree cover and increasing deforestation rates due to human activities at various points in time.
Deep Image Blending
Venue: arXiv cs.CV 2019
Year: 2019

Image composition is an important operation to create visual content. Among image composition tasks, image blending aims to seamlessly blend an object from a source image onto a target image with lightly mask adjustment. A popular approach is Poisson image blending, which enforces the gradient domain smoothness in the composite image. However, this approach only considers the boundary pixels of target image, and thus can not adapt to texture of target image. In addition, the colors of the target image often seep through the original source object too much causing a significant loss of content of the source object. We propose a Poisson blending loss that achieves the same purpose of Poisson image blending. In addition, we jointly optimize the proposed Poisson blending loss as well as the style and content loss computed from a deep network, and reconstruct the blending region by iteratively updating the pixels using the L-BFGS solver. In the blending image, we not only smooth out gradient domain of the blending boundary but also add consistent texture into the blending region. User studies show that our method outperforms strong baselines as well as state-of-the-art approaches when placing objects onto both paintings and real-world images.
L2RS: A Learning-to-Rescore Mechanism for Automatic Speech Recognition
Venue: arXiv cs.CL 2019
Year: 2019

Modern Automatic Speech Recognition (ASR) systems primarily rely on scores from an Acoustic Model (AM) and a Language Model (LM) to rescore the N-best lists. With the abundance of recent natural language processing advances, the information utilized by current ASR for evaluating the linguistic and semantic legitimacy of the N-best hypotheses is rather limited. In this paper, we propose a novel Learning-to-Rescore (L2RS) mechanism, which is specialized for utilizing a wide range of textual information from the state-of-the-art NLP models and automatically deciding their weights to rescore the N-best lists for ASR systems. Specifically, we incorporate features including BERT sentence embedding, topic vector, and perplexity scores produced by n-gram LM, topic modeling LM, BERT LM and RNNLM to train a rescoring model. We conduct extensive experiments based on a public dataset, and experimental results show that L2RS outperforms not only traditional rescoring methods but also its deep neural network counterparts by a substantial improvement of 20.67% in terms of NDCG@10. L2RS paves the way for developing more effective rescoring models for ASR.
Over Parameterized Two-level Neural Networks Can Learn Near Optimal Feature Representations
Venue: arXiv cs.LG 2019
Year: 2019

Recently, over-parameterized neural networks have been extensively analyzed in the literature. However, the previous studies cannot satisfactorily explain why fully trained neural networks are successful in practice. In this paper, we present a new theoretical framework for analyzing over-parameterized neural networks which we call neural feature repopulation. Our analysis can satisfactorily explain the empirical success of two level neural networks that are trained by standard learning algorithms. Our key theoretical result is that in the limit of infinite number of hidden neurons, over-parameterized two-level neural networks trained via the standard (noisy) gradient descent learns a well-defined feature distribution (population), and the limiting feature distribution is nearly optimal for the underlying learning task under certain conditions. Empirical studies confirm that predictions of our theory are consistent with the results observed in real practice.
Progressive Unsupervised Person Re-identification by Tracklet Association with Spatio-Temporal Regularization
Venue: arXiv cs.CV 2019
Year: 2019

Existing methods for person re-identification (Re-ID) are mostly based on supervised learning which requires numerous manually labeled samples across all camera views for training. Such a paradigm suffers the scalability issue since in real-world Re-ID application, it is difficult to exhaustively label abundant identities over multiple disjoint camera views. To this end, we propose a progressive deep learning method for unsupervised person Re-ID in the wild by Tracklet Association with Spatio-Temporal Regularization (TASTR). In our approach, we first collect tracklet data within each camera by automatic person detection and tracking. Then, an initial Re-ID model is trained based on within-camera triplet construction for person representation learning. After that, based on the person visual feature and spatio-temporal constraint, we associate cross-camera tracklets to generate cross-camera triplets and update the Re-ID model. Lastly, with the refined Re-ID model, better visual feature of person can be extracted, which further promote the association of cross-camera tracklets. The last two steps are iterated multiple times to progressively upgrade the Re-ID model.
Label Smoothing and Logit Squeezing: A Replacement for Adversarial Training?
Venue: arXiv cs.LG 2019
Year: 2019

Adversarial training is one of the strongest defenses against adversarial attacks, but it requires adversarial examples to be generated for every mini-batch during optimization. The expense of producing these examples during training often precludes adversarial training from use on complex image datasets. In this study, we explore the mechanisms by which adversarial training improves classifier robustness, and show that these mechanisms can be effectively mimicked using simple regularization methods, including label smoothing and logit squeezing. Remarkably, using these simple regularization methods in combination with Gaussian noise injection, we are able to achieve strong adversarial robustness -- often exceeding that of adversarial training -- using no adversarial examples.
Temporal Logics with Language Parameters
Venue: arXiv cs.LO 2019
Year: 2019

Computation Tree Logic (CTL) and its extensions CTL* and CTL+ are widely used in automated verification as a basis for common model checking tools. But while they can express many properties of interest like reachability, even simple regular properties like "Every other index is labelled a cannot be expressed in these logics. While many extensions were developed to include regular or even non-regular (e.g. visibly pushdown) languages, the first generic framework, Extended CTL, for CTL with arbitrary language classes was given by Axelsson et. al. and applied to regular, visibly pushdown and (deterministic) context-free languages. We extend this framework to CTL* and CTL+ and analyse it with regard to decidability, complexity, expressivity and satisfiability.
Channel adversarial training for speaker verification and diarization
Venue: arXiv cs.SD 2019
Year: 2019

Previous work has encouraged domain-invariance in deep speaker embedding by adversarially classifying the dataset or labelled environment to which the generated features belong. We propose a training strategy which aims to produce features that are invariant at the granularity of the recording or channel, a finer grained objective than dataset- or environment-invariance. By training an adversary to predict whether pairs of same-speaker embeddings belong to the same recording in a Siamese fashion, learned features are discouraged from utilizing channel information that may be speaker discriminative during training. Experiments for verification on VoxCeleb and diarization and verification on CALLHOME show promising improvements over a strong baseline in addition to outperforming a dataset-adversarial model. The VoxCeleb model in particular performs well, achieving a $4\%$ relative improvement in EER over a Kaldi baseline, while using a similar architecture and less training data.
Contextual Imagined Goals for Self-Supervised Robotic Learning
Venue: arXiv cs.RO 2019
Year: 2019

While reinforcement learning provides an appealing formalism for learning individual skills, a general-purpose robotic system must be able to master an extensive repertoire of behaviors. Instead of learning a large collection of skills individually, can we instead enable a robot to propose and practice its own behaviors automatically, learning about the affordances and behaviors that it can perform in its environment, such that it can then repurpose this knowledge once a new task is commanded by the user? In this paper, we study this question in the context of self-supervised goal-conditioned reinforcement learning. A central challenge in this learning regime is the problem of goal setting: in order to practice useful skills, the robot must be able to autonomously set goals that are feasible but diverse. When the robot's environment and available objects vary, as they do in most open-world settings, the robot must propose to itself only those goals that it can accomplish in its present setting with the objects that are at hand. Previous work only studies self-supervised goal-conditioned RL in a single-environment setting, where goal proposals come from the robot's past experience or a generative model are sufficient. In more diverse settings, this frequently leads to impossible goals and, as we show experimentally, prevents effective learning. We propose a conditional goal-setting model that aims to propose goals that are feasible from the robot's current state. We demonstrate that this enables self-supervised goal-conditioned off-policy learning with raw image observations in the real world, enabling a robot to manipulate a variety of objects and generalize to new objects that were not seen during training.