OpenRaiser/Intern-Atlas huggingface dataset:
Distributed Pattern Formation in a Ring
Venue: arXiv cs.DC 2019
Year: 2019

Motivated by concerns about diversity in social networks, we consider the following pattern formation problems in rings. Assume $n$ mobile agents are located at the nodes of an $n$-node ring network. Each agent is assigned a colour from the set $\{c_1, c_2, \ldots, c_q \}$. The ring is divided into $k$ contiguous {\em blocks} or neighbourhoods of length $p$. The agents are required to rearrange themselves in a distributed manner to satisfy given diversity requirements: in each block $j$ and for each colour $c_i$, there must be exactly $n_i(j) >0$ agents of colour $c_i$ in block $j$. Agents are assumed to be able to see agents in adjacent blocks, and move to any position in adjacent blocks in one time step. When the number of colours $q=2$, we give an algorithm that terminates in time $N_1/n^*_1 + k + 4$ where $N_1$ is the total number of agents of colour $c_1$ and $n^*_1$ is the minimum number of agents of colour $c_1$ required in any block. When the diversity requirements are the same in every block, our algorithm requires $3k+4$ steps, and is asymptotically optimal. Our algorithm generalizes for an arbitrary number of colours, and terminates in $O(nk)$ steps. We also show how to extend it to achieve arbitrary specific final patterns, provided there is at least one agent of every colour in every pattern.
Cocktail Intra-Symbol-Codes: Exceeding the Channel Limit of QPSK Input
Venue: arXiv cs.IT 2019
Year: 2019

This paper presents a new method, referred to as the cocktail intra-symbol-code, to reveal the possibility of exceeding the channel limit of QPSK input by transmitting independent signals in parallel manner and separating them the receiver, repetitively. In the proposed modulation scheme, the rhombic constellation is created to work with the modulated signal and the channel code in Euclidean- and Hamming space cooperatively. The theoretical derivations are done under the assumption of using the capacity-achieving codes and the results are shown in terms of the reliable bit rates.
Augmenting Data with Mixup for Sentence Classification: An Empirical Study
Venue: arXiv cs.CL 2019
Year: 2019

Mixup, a recent proposed data augmentation method through linearly interpolating inputs and modeling targets of random samples, has demonstrated its capability of significantly improving the predictive accuracy of the state-of-the-art networks for image classification. However, how this technique can be applied to and what is its effectiveness on natural language processing (NLP) tasks have not been investigated. In this paper, we propose two strategies for the adaption of Mixup on sentence classification: one performs interpolation on word embeddings and another on sentence embeddings. We conduct experiments to evaluate our methods using several benchmark datasets. Our studies show that such interpolation strategies serve as an effective, domain independent data augmentation approach for sentence classification, and can result in significant accuracy improvement for both CNN and LSTM models.
Segmentation-Aware Image Denoising without Knowing True Segmentation
Venue: arXiv cs.CV 2019
Year: 2019

Several recent works discussed application-driven image restoration neural networks, which are capable of not only removing noise in images but also preserving their semantic-aware details, making them suitable for various high-level computer vision tasks as the pre-processing step. However, such approaches require extra annotations for their high-level vision tasks, in order to train the joint pipeline using hybrid losses. The availability of those annotations is yet often limited to a few image sets, potentially restricting the general applicability of these methods to denoising more unseen and unannotated images. Motivated by that, we propose a segmentation-aware image denoising model dubbed U-SAID, based on a novel unsupervised approach with a pixel-wise uncertainty loss. U-SAID does not need any ground-truth segmentation map, and thus can be applied to any image dataset. It generates denoised images with comparable or even better quality, and the denoised results show stronger robustness for subsequent semantic segmentation tasks, when compared to either its supervised counterpart or classical "application-agnostic" denoisers. Moreover, we demonstrate the superior generalizability of U-SAID in three-folds, by plugging its "universal" denoiser without fine-tuning: (1) denoising unseen types of images; (2) denoising as pre-processing for segmenting unseen noisy images; and (3) denoising for unseen high-level tasks. Extensive experiments demonstrate the effectiveness, robustness and generalizability of the proposed U-SAID over various popular image sets.
LapTool-Net: A Contextual Detector of Surgical Tools in Laparoscopic Videos Based on Recurrent Convolutional Neural Networks
Venue: arXiv cs.CV 2019
Year: 2019

We propose a new multilabel classifier, called LapTool-Net to detect the presence of surgical tools in each frame of a laparoscopic video. The novelty of LapTool-Net is the exploitation of the correlation among the usage of different tools and, the tools and tasks - namely, the context of the tools' usage. Towards this goal, the pattern in the co-occurrence of the tools is utilized for designing a decision policy for a multilabel classifier based on a Recurrent Convolutional Neural Network (RCNN) architecture to simultaneously extract the spatio-temporal features. In contrast to the previous multilabel classification methods, the RCNN and the decision model are trained in an end-to-end manner using a multitask learning scheme. To overcome the high imbalance and avoid overfitting caused by the lack of variety in the training data, a high down-sampling rate is chosen based on the more frequent combinations. Furthermore, at the post-processing step, the prediction for all the frames of a video are corrected by designing a bi-directional RNN to model the long-term task's order. LapTool-net was trained using a publicly available dataset of laparoscopic cholecystectomy. The results show LapTool-Net outperforms existing methods significantly, even while using fewer training samples and a shallower architecture.
Underwater Color Restoration Using U-Net Denoising Autoencoder
Venue: arXiv cs.CV 2019
Year: 2019

Visual inspection of underwater structures by vehicles, e.g. remotely operated vehicles (ROVs), plays an important role in scientific, military, and commercial sectors. However, the automatic extraction of information using software tools is hindered by the characteristics of water which degrade the quality of captured videos. As a contribution for restoring the color of underwater images, Underwater Denoising Autoencoder (UDAE) model is developed using a denoising autoencoder with U-Net architecture. The proposed network takes into consideration the accuracy and the computation cost to enable real-time implementation on underwater visual tasks using end-to-end autoencoder network. Underwater vehicles perception is improved by reconstructing captured frames; hence obtaining better performance in underwater tasks. Related learning methods use generative adversarial networks (GANs) to generate color corrected underwater images, and to our knowledge this paper is the first to deal with a single autoencoder capable of producing same or better results. Moreover, image pairs are constructed for training the proposed network, where it is hard to obtain such dataset from underwater scenery. At the end, the proposed model is compared to a state-of-the-art method.
A Deep Reinforcement Learning Driving Policy for Autonomous Road Vehicles
Venue: arXiv cs.RO 2019
Year: 2019

This work regards our preliminary investigation on the problem of path planning for autonomous vehicles that move on a freeway. We approach this problem by proposing a driving policy based on Reinforcement Learning. The proposed policy makes minimal or no assumptions about the environment, since no a priori knowledge about the system dynamics is required. We compare the performance of the proposed policy against an optimal policy derived via Dynamic Programming and against manual driving simulated by SUMO traffic simulator.
Retrieving Multi-Entity Associations: An Evaluation of Combination Modes for Word Embeddings
Venue: arXiv cs.IR 2019
Year: 2019

Word embeddings have gained significant attention as learnable representations of semantic relations between words, and have been shown to improve upon the results of traditional word representations. However, little effort has been devoted to using embeddings for the retrieval of entity associations beyond pairwise relations. In this paper, we use popular embedding methods to train vector representations of an entity-annotated news corpus, and evaluate their performance for the task of predicting entity participation in news events versus a traditional word cooccurrence network as a baseline. To support queries for events with multiple participating entities, we test a number of combination modes for the embedding vectors. While we find that even the best combination modes for word embeddings do not quite reach the performance of the full cooccurrence network, especially for rare entities, we observe that different embedding methods model different types of relations, thereby indicating the potential for ensemble methods.
Learning Networked Exponential Families with Network Lasso
Venue: arXiv cs.LG 2019
Year: 2019

We propose networked exponential families to jointly leverage the information in the topology as well as the attributes (features) of networked data points. Networked exponential families are a flexible probabilistic model for heterogeneous datasets with intrinsic network structure. These models can be learnt efficiently using network Lasso which implicitly pools or clusters the data points according to the intrinsic network structure and the local likelihood. The resulting method can be formulated as a non-smooth convex optimization problem which we solve using a primal-dual splitting method. This primal-dual method is appealing for big data applications as it can be implemented as a highly scalable message passing algorithm.
R package for producing beamplots as a preferred alternative to the h index when assessing single researchers (based on downloads from Web of Science)
Venue: arXiv cs.DL 2019
Year: 2019

We propose the use of beamplots - which can be produced by using the R package BibPlots and WoS downloads - as a preferred alternative to h index values for assessing single researchers.
Coarse Quad Layouts Through Robust Simplification of Cross Field Separatrix Partitions
Venue: arXiv cs.CG 2019
Year: 2019

Streamline-based quad meshing algorithms use smooth cross fields to partition surfaces into quadrilateral regions by tracing cross field separatrices. In practice, re-entrant corners and misalignment of singularities lead to small regions and limit cycles, negating some of the benefits a quad layout can provide in quad meshing. We introduce three novel methods to improve on a pipeline for coarse quad partitioning. First, we formulate an efficient method to compute high-quality cross fields on curved surfaces by extending the diffusion generated method from Viertel and Osting (SISC, 2019). Next, we introduce a method for accurately computing the trajectory of streamlines through singular triangles that prevents tangential crossings. Finally, we introduce a robust method to produce coarse quad layouts by simplifying the partitions obtained via naive separatrix tracing. Our methods are tested on a database of 100 objects and the results are analyzed. The algorithm performs well both in terms of efficiency and visual results on the database when compared to state-of-the-art methods.
A Comprehensive Study of ImageNet Pre-Training for Historical Document Image Analysis
Venue: arXiv cs.CV 2019
Year: 2019

Automatic analysis of scanned historical documents comprises a wide range of image analysis tasks, which are often challenging for machine learning due to a lack of human-annotated learning samples. With the advent of deep neural networks, a promising way to cope with the lack of training data is to pre-train models on images from a different domain and then fine-tune them on historical documents. In the current research, a typical example of such cross-domain transfer learning is the use of neural networks that have been pre-trained on the ImageNet database for object recognition. It remains a mostly open question whether or not this pre-training helps to analyse historical documents, which have fundamentally different image properties when compared with ImageNet. In this paper, we present a comprehensive empirical survey on the effect of ImageNet pre-training for diverse historical document analysis tasks, including character recognition, style classification, manuscript dating, semantic segmentation, and content-based retrieval. While we obtain mixed results for semantic segmentation at pixel-level, we observe a clear trend across different network architectures that ImageNet pre-training has a positive effect on classification as well as content-based retrieval.
A Quick Introduction to Functional Verification of Array-Intensive Programs
Venue: arXiv cs.PL 2019
Year: 2019

Array-intensive programs are often amenable to parallelization across many cores on a single machine as well as scaling across multiple machines and hence are well explored, especially in the domain of high-performance computing. These programs typically undergo loop transformations and arithmetic transformations in addition to parallelizing transformations. Although a lot of effort has been invested in improving parallelizing compilers, experienced programmers still resort to hand-optimized transformations which is typically followed by careful tuning of the transformed program to finally obtain the optimized program. Therefore, it is critical to verify that the functional correctness of an original sequential program is not sacrificed during the process of optimization. In this paper, we cover important literature on functional verification of array-intensive programs which we believe can be a good starting point for one interested in this field.
Sentence Length
Venue: arXiv cs.CL 2019
Year: 2019

The distribution of sentence length in ordinary language is not well captured by the existing models. Here we survey previous models of sentence length and present our random walk model that offers both a better fit with the data and a better understanding of the distribution. We develop a generalization of KL divergence, discuss measuring the noise inherent in a corpus, and present a hyperparameter-free Bayesian model comparison method that has strong conceptual ties to Minimal Description Length modeling. The models we obtain require only a few dozen bits, orders of magnitude less than the naive nonparametric MDL models would.
ZJUNlict Extended Team Description Paper for RoboCup 2019
Venue: arXiv cs.RO 2019
Year: 2019

For the Small Size League of RoboCup 2018, Team ZJUNLict has won the champion and therefore, this paper thoroughly described the devotion which ZJUNLict has devoted and the effort that ZJUNLict has contributed. There are three mean optimizations for the mechanical part which accounted for most of our incredible goals, they are "Touching Point Optimization", "Damping System Optimization", and "Dribbler Optimization". For the electrical part, we realized "Direct Torque Control", "Efficient Radio Communication Protocol" which will be credited for stabilizing the dribbler and a more secure communication between robots and the computer. Our software group contributed as much as our hardware group with the effort of "Vision Lost Compensation" to predict the movement by kalman filter, and "Interception Prediction Algorithm" to achieve some skills and improve our ball possession rate.
A framework for the extraction of Deep Neural Networks by leveraging public data
Venue: arXiv cs.LG 2019
Year: 2019

Machine learning models trained on confidential datasets are increasingly being deployed for profit. Machine Learning as a Service (MLaaS) has made such models easily accessible to end-users. Prior work has developed model extraction attacks, in which an adversary extracts an approximation of MLaaS models by making black-box queries to it. However, none of these works is able to satisfy all the three essential criteria for practical model extraction: (1) the ability to work on deep learning models, (2) the non-requirement of domain knowledge and (3) the ability to work with a limited query budget. We design a model extraction framework that makes use of active learning and large public datasets to satisfy them. We demonstrate that it is possible to use this framework to steal deep classifiers trained on a variety of datasets from image and text domains. By querying a model via black-box access for its top prediction, our framework improves performance on an average over a uniform noise baseline by 4.70x for image tasks and 2.11x for text tasks respectively, while using only 30% (30,000 samples) of the public dataset at its disposal.
Two stage cluster for resource optimization with Apache Mesos
Venue: arXiv cs.DC 2019
Year: 2019

As resource estimation for jobs is difficult, users often overestimate their requirements. Both commercial clouds and academic campus clusters suffer from low resource utilization and long wait times as the resource estimates for jobs, provided by users, is inaccurate. We present an approach to statistically estimate the actual resource requirement of a job in a Little cluster before the run in a Big cluster. The initial estimation on the little cluster gives us a view of how much actual resources a job requires. This initial estimate allows us to accurately allocate resources for the pending jobs in the queue and thereby improve throughput and resource utilization. In our experiments, we determined resource utilization estimates with an average accuracy of 90% for memory and 94% for CPU, while we make better utilization of memory by an average of 22% and CPU by 53%, compared to the default job submission methods on Apache Aurora and Apache Mesos.
Dynamic Algorithms for the Massively Parallel Computation Model
Venue: arXiv cs.DC 2019
Year: 2019

The Massive Parallel Computing (MPC) model gained popularity during the last decade and it is now seen as the standard model for processing large scale data. One significant shortcoming of the model is that it assumes to work on static datasets while, in practice, real-world datasets evolve continuously. To overcome this issue, in this paper we initiate the study of dynamic algorithms in the MPC model. We first discuss the main requirements for a dynamic parallel model and we show how to adapt the classic MPC model to capture them. Then we analyze the connection between classic dynamic algorithms and dynamic algorithms in the MPC model. Finally, we provide new efficient dynamic MPC algorithms for a variety of fundamental graph problems, including connectivity, minimum spanning tree and matching.
The Problem of Adhesion Methods and Locomotion Mechanism Development for Wall-Climbing Robots
Venue: arXiv cs.RO 2019
Year: 2019

This review considers a problem in the development of mobile robot adhesion methods with vertical surfaces and the appropriate locomotion mechanism design. The evolution of adhesion methods for wall-climbing robots (based on friction, magnetic forces, air pressure, electrostatic adhesion, molecular forces, rheological properties of fluids and their combinations) and their locomotion principles (wheeled, tracked, walking, sliding framed and hybrid) is studied. Wall-climbing robots are classified according to the applications, adhesion methods and locomotion mechanisms. The advantages and disadvantages of various adhesion methods and locomotion mechanisms are analyzed in terms of mobility, noiselessness, autonomy and energy efficiency. Focus is placed on the physical and technical aspects of the adhesion methods and the possibility of combining adhesion and locomotion methods.
PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking
Venue: arXiv cs.CV 2019
Year: 2019

Tracking 6D poses of objects from videos provides rich information to a robot in performing different tasks such as manipulation and navigation. In this work, we formulate the 6D object pose tracking problem in the Rao-Blackwellized particle filtering framework, where the 3D rotation and the 3D translation of an object are decoupled. This factorization allows our approach, called PoseRBPF, to efficiently estimate the 3D translation of an object along with the full distribution over the 3D rotation. This is achieved by discretizing the rotation space in a fine-grained manner, and training an auto-encoder network to construct a codebook of feature embeddings for the discretized rotations. As a result, PoseRBPF can track objects with arbitrary symmetries while still maintaining adequate posterior distributions. Our approach achieves state-of-the-art results on two 6D pose estimation benchmarks. A video showing the experiments can be found at https://youtu.be/lE5gjzRKWuA
Kernel Wasserstein Distance
Venue: arXiv cs.LG 2019
Year: 2019

The Wasserstein distance is a powerful metric based on the theory of optimal transport. It gives a natural measure of the distance between two distributions with a wide range of applications. In contrast to a number of the common divergences on distributions such as Kullback-Leibler or Jensen-Shannon, it is (weakly) continuous, and thus ideal for analyzing corrupted data. To date, however, no kernel methods for dealing with nonlinear data have been proposed via the Wasserstein distance. In this work, we develop a novel method to compute the L2-Wasserstein distance in a kernel space implemented using the kernel trick. The latter is a general method in machine learning employed to handle data in a nonlinear manner. We evaluate the proposed approach in identifying computerized tomography (CT) slices with dental artifacts in head and neck cancer, performing unsupervised hierarchical clustering on the resulting Wasserstein distance matrix that is computed on imaging texture features extracted from each CT slice. Our experiments show that the kernel approach outperforms classical non-kernel approaches in identifying CT slices with artifacts.
The Journey is the Reward: Unsupervised Learning of Influential Trajectories
Venue: arXiv cs.LG 2019
Year: 2019

Unsupervised exploration and representation learning become increasingly important when learning in diverse and sparse environments. The information-theoretic principle of empowerment formalizes an unsupervised exploration objective through an agent trying to maximize its influence on the future states of its environment. Previous approaches carry certain limitations in that they either do not employ closed-loop feedback or do not have an internal state. As a consequence, a privileged final state is taken as an influence measure, rather than the full trajectory. We provide a model-free method which takes into account the whole trajectory while still offering the benefits of option-based approaches. We successfully apply our approach to settings with large action spaces, where discovery of meaningful action sequences is particularly difficult.