OpenRaiser/Intern-Atlas huggingface dataset:
Learning to Generate Cost-to-Go Functions for Efficient Motion Planning
Venue: arXiv cs.RO 2020
Year: 2020

Traditional motion planning is computationally burdensome for practical robots, involving extensive collision checking and considerable iterative propagation of cost values. We present a novel neural network architecture which can directly generate the cost-to-go (c2g) function for a given configuration space and a goal configuration. The output of the network is a continuous function whose gradient in configuration space can be directly used to generate trajectories in motion planning without the need for protracted iterations or extensive collision checking. This higher order function (i.e. a function generating another function) representation lies at the core of our motion planning architecture, c2g-HOF, which can take a workspace as input, and generate the cost-to-go function over the configuration space map (C-map). Simulation results for 2D and 3D environments show that c2g-HOF can be orders of magnitude faster at execution time than methods which explore the configuration space during execution. We also present an implementation of c2g-HOF which generates trajectories for robot manipulators directly from an overhead image of the workspace.
Learning to be Safe: Deep RL with a Safety Critic
Venue: arXiv cs.LG 2020
Year: 2020

Safety is an essential component for deploying reinforcement learning (RL) algorithms in real-world scenarios, and is critical during the learning process itself. A natural first approach toward safe RL is to manually specify constraints on the policy's behavior. However, just as learning has enabled progress in large-scale development of AI systems, learning safety specifications may also be necessary to ensure safety in messy open-world environments where manual safety specifications cannot scale. Akin to how humans learn incrementally starting in child-safe environments, we propose to learn how to be safe in one set of tasks and environments, and then use that learned intuition to constrain future behaviors when learning new, modified tasks. We empirically study this form of safety-constrained transfer learning in three challenging domains: simulated navigation, quadruped locomotion, and dexterous in-hand manipulation. In comparison to standard deep RL techniques and prior approaches to safe RL, we find that our method enables the learning of new tasks and in new environments with both substantially fewer safety incidents, such as falling or dropping an object, and faster, more stable learning. This suggests a path forward not only for safer RL systems, but also for more effective RL systems.
Hybrid Backpropagation Parallel Reservoir Networks
Venue: arXiv cs.NE 2020
Year: 2020

In many real-world applications, fully-differentiable RNNs such as LSTMs and GRUs have been widely deployed to solve time series learning tasks. These networks train via Backpropagation Through Time, which can work well in practice but involves a biologically unrealistic unrolling of the network in time for gradient updates, are computationally expensive, and can be hard to tune. A second paradigm, Reservoir Computing, keeps the recurrent weight matrix fixed and random. Here, we propose a novel hybrid network, which we call Hybrid Backpropagation Parallel Echo State Network (HBP-ESN) which combines the effectiveness of learning random temporal features of reservoirs with the readout power of a deep neural network with batch normalization. We demonstrate that our new network outperforms LSTMs and GRUs, including multi-layer "deep" versions of these networks, on two complex real-world multi-dimensional time series datasets: gesture recognition using skeleton keypoints from ChaLearn, and the DEAP dataset for emotion recognition from EEG measurements. We show also that the inclusion of a novel meta-ring structure, which we call HBP-ESN M-Ring, achieves similar performance to one large reservoir while decreasing the memory required by an order of magnitude. We thus offer this new hybrid reservoir deep learning paradigm as a new alternative direction for RNN learning of temporal or sequential data.
Sparse Symmetric Tensor Regression for Functional Connectivity Analysis
Venue: arXiv cs.LG 2020
Year: 2020

Tensor regression models, such as CP regression and Tucker regression, have many successful applications in neuroimaging analysis where the covariates are of ultrahigh dimensionality and possess complex spatial structures. The high-dimensional covariate arrays, also known as tensors, can be approximated by low-rank structures and fit into the generalized linear models. The resulting tensor regression achieves a significant reduction in dimensionality while remaining efficient in estimation and prediction. Brain functional connectivity is an essential measure of brain activity and has shown significant association with neurological disorders such as Alzheimer's disease. The symmetry nature of functional connectivity is a property that has not been explored in previous tensor regression models. In this work, we propose a sparse symmetric tensor regression that further reduces the number of free parameters and achieves superior performance over symmetrized and ordinary CP regression, under a variety of simulation settings. We apply the proposed method to a study of Alzheimer's disease (AD) and normal ageing from the Berkeley Aging Cohort Study (BACS) and detect two regions of interest that have been identified important to AD.
Quantified Facial Temporal-Expressiveness Dynamics for Affect Analysis
Venue: arXiv cs.CV 2020
Year: 2020

The quantification of visual affect data (e.g. face images) is essential to build and monitor automated affect modeling systems efficiently. Considering this, this work proposes quantified facial Temporal-expressiveness Dynamics (TED) to quantify the expressiveness of human faces. The proposed algorithm leverages multimodal facial features by incorporating static and dynamic information to enable accurate measurements of facial expressiveness. We show that TED can be used for high-level tasks such as summarization of unstructured visual data, and expectation from and interpretation of automated affect recognition models. To evaluate the positive impact of using TED, a case study was conducted on spontaneous pain using the UNBC-McMaster spontaneous shoulder pain dataset. Experimental results show the efficacy of using TED for quantified affect analysis.
TopicModel4J: A Java Package for Topic Models
Venue: arXiv cs.CL 2020
Year: 2020

Topic models provide a flexible and principled framework for exploring hidden structure in high-dimensional co-occurrence data and are commonly used natural language processing (NLP) of text. In this paper, we design and implement a Java package, TopicModel4J, which contains 13 kinds of representative algorithms for fitting topic models. The TopicModel4J in the Java programming environment provides an easy-to-use interface for data analysts to run the algorithms, and allow to easily input and output data. In addition, this package provides a few unstructured text preprocessing techniques, such as splitting textual data into words, lowercasing the words, preforming lemmatization and removing the useless characters, URLs and stop words.
Delegated Stochastic Probing
Venue: arXiv cs.GT 2020
Year: 2020

Delegation covers a broad class of problems in which a principal doesn't have the resources or expertise necessary to complete a task by themselves, so they delegate the task to an agent whose interests may not be aligned with their own. Stochastic probing describes problems in which we are tasked with maximizing expected utility by "probing" known distributions for acceptable solutions subject to certain constraints. In this work, we combine the concepts of delegation and stochastic probing into a single mechanism design framework which we term delegated stochastic probing. We study how much a principal loses by delegating a stochastic probing problem, compared to their utility in the non-delegated solution. Our model and results are heavily inspired by the work of Kleinberg and Kleinberg in "Delegated Search Approximates Efficient Search." Building on their work, we show that there exists a connection between delegated stochastic probing and generalized prophet inequalities, which provides us with constant-factor deterministic mechanisms for a large class of delegated stochastic probing problems. We also explore randomized mechanisms in a simple delegated probing setting, and show that they outperform deterministic mechanisms in some instances but not in the worst case.
Explore-Before-Talk: Multichannel Selection Diversity for Uplink Transmissions in Machine-Type Communication
Venue: arXiv cs.IT 2020
Year: 2020

Improving the data rate of machine-type communication (MTC) is essential in supporting emerging Internet of things (IoT) applications ranging from real-time surveillance to edge machine learning. To this end, in this paper we propose a resource allocation approach for uplink transmissions within a random access procedure in MTC by exploiting multichannel selection diversity, coined explore-before-talk (EBT). Each user in EBT first sends pilot signals through multiple channels that are initially allocated by a base station (BS) for exploration, and then the BS informs a subset of initially allocated channels that are associated with high signal-to-noise ratios (SNRs) for data packet transmission by the user while releasing the rest of the channels for other users. Consequently, EBT exploits a multichannel selection diversity gain during data packet transmission, at the cost of exploration during pilot transmission. We optimize this exploration-exploitation trade-off, by deriving closed-form mean data rate and resource outage probability expressions. Numerical results corroborate that EBT achieves a higher mean data rate while satisfying the same outage constraint, compared to a conventional MTC protocol without exploration.
Comparing Workflow Application Designs for High Resolution Satellite Image Analysis
Venue: arXiv cs.DC 2020
Year: 2020

Very High Resolution satellite and aerial imagery are used to monitor and conduct large scale surveys of ecological systems. Convolutional Neural Networks have successfully been employed to analyze such imagery to detect large animals and salient features. As the datasets increase in volume and number of images, utilizing High Performance Computing resources becomes necessary. In this paper, we investigate three task-parallel, data-driven workflow designs to support imagery analysis pipelines with heterogeneous tasks on HPC. We analyze the capabilities of each design when processing datasets from two use cases for a total of 4,672 satellite and aerial images, and 8.35 TB of data. We experimentally model the execution time of the tasks of the image processing pipelines. We perform experiments to characterize the resource utilization, total time to completion, and overheads of each design. Based on the model, overhead and utilization analysis, we show which design is best suited to scientific pipelines with similar characteristics.
Wide flat minima and optimal generalization in classifying high-dimensional Gaussian mixtures
Venue: arXiv cs.LG 2020
Year: 2020

We analyze the connection between minimizers with good generalizing properties and high local entropy regions of a threshold-linear classifier in Gaussian mixtures with the mean squared error loss function. We show that there exist configurations that achieve the Bayes-optimal generalization error, even in the case of unbalanced clusters. We explore analytically the error-counting loss landscape in the vicinity of a Bayes-optimal solution, and show that the closer we get to such configurations, the higher the local entropy, implying that the Bayes-optimal solution lays inside a wide flat region. We also consider the algorithmically relevant case of targeting wide flat minima of the (differentiable) mean squared error loss. Our analytical and numerical results show not only that in the balanced case the dependence on the norm of the weights is mild, but also, in the unbalanced case, that the performances can be improved.
Structural Causal Model with Expert Augmented Knowledge to Estimate the Effect of Oxygen Therapy on Mortality in the ICU
Venue: arXiv cs.LG 2020
Year: 2020

Recent advances in causal inference techniques, more specifically, in the theory of structural causal models, provide the framework for identification of causal effects from observational data in the cases where the causal graph is identifiable, i.e., the data generating mechanism can be recovered from the joint distribution. However, no such studies have been done to demonstrate this concept with a clinical example. We present a complete framework to estimate the causal effect from observational data by augmenting expert knowledge in the model development phase and with a practical clinical application. Our clinical application entails a timely and important research question, i.e., the effect of oxygen therapy intervention in the intensive care unit (ICU); the result of this project is useful in a variety of disease conditions, including severe acute respiratory syndrome coronavirus-2 (SARS-CoV-2) patients in the ICU. We used data from the MIMIC III database, a standard database in the machine learning community that contains 58,976 admissions from an ICU in Boston, MA, for estimating the oxygen therapy effect on morality. We also identified the covariate-specific effect to oxygen therapy from the model for more personalized intervention.
Class-Agnostic Segmentation Loss and Its Application to Salient Object Detection and Segmentation
Venue: arXiv cs.CV 2020
Year: 2020

In this paper we present a novel loss function, called class-agnostic segmentation (CAS) loss. With CAS loss the class descriptors are learned during training of the network. We don't require to define the label of a class a-priori, rather the CAS loss clusters regions with similar appearance together in a weakly-supervised manner. Furthermore, we show that the CAS loss function is sparse, bounded, and robust to class-imbalance. We apply our CAS loss function with fully-convolutional ResNet101 and DeepLab-v3 architectures to the binary segmentation problem of salient object detection. We investigate the performance against the state-of-the-art methods in two settings of low and high-fidelity training data on seven salient object detection datasets. For low-fidelity training data (incorrect class label) class-agnostic segmentation loss outperforms the state-of-the-art methods on salient object detection datasets by staggering margins of around 50%. For high-fidelity training data (correct class labels) class-agnostic segmentation models perform as good as the state-of-the-art approaches while beating the state-of-the-art methods on most datasets. In order to show the utility of the loss function across different domains we also test on general segmentation dataset, where class-agnostic segmentation loss outperforms cross-entropy based loss by huge margins on both region and edge metrics.
Collective Awareness for Abnormality Detection in Connected Autonomous Vehicles
Venue: arXiv cs.LG 2020
Year: 2020

The advancements in connected and autonomous vehicles in these times demand the availability of tools providing the agents with the capability to be aware and predict their own states and context dynamics. This article presents a novel approach to develop an initial level of collective awareness in a network of intelligent agents. A specific collective self awareness functionality is considered, namely, agent centered detection of abnormal situations present in the environment around any agent in the network. Moreover, the agent should be capable of analyzing how such abnormalities can influence the future actions of each agent. Data driven dynamic Bayesian network (DBN) models learned from time series of sensory data recorded during the realization of tasks (agent network experiences) are here used for abnormality detection and prediction. A set of DBNs, each related to an agent, is used to allow the agents in the network to each synchronously aware possible abnormalities occurring when available models are used on a new instance of the task for which DBNs have been learned. A growing neural gas (GNG) algorithm is used to learn the node variables and conditional probabilities linking nodes in the DBN models; a Markov jump particle filter (MJPF) is employed for state estimation and abnormality detection in each agent using learned DBNs as filter parameters. Performance metrics are discussed to asses the algorithms reliability and accuracy. The impact is also evaluated by the communication channel used by the network to share the data sensed in a distributed way by each agent of the network. The IEEE 802.11p protocol standard has been considered for communication among agents. Real data sets are also used acquired by autonomous vehicles performing different tasks in a controlled environment.
Bridging the Modality Gap for Speech-to-Text Translation
Venue: arXiv cs.CL 2020
Year: 2020

End-to-end speech translation aims to translate speech in one language into text in another language via an end-to-end way. Most existing methods employ an encoder-decoder structure with a single encoder to learn acoustic representation and semantic information simultaneously, which ignores the speech-and-text modality differences and makes the encoder overloaded, leading to great difficulty in learning such a model. To address these issues, we propose a Speech-to-Text Adaptation for Speech Translation (STAST) model which aims to improve the end-to-end model performance by bridging the modality gap between speech and text. Specifically, we decouple the speech translation encoder into three parts and introduce a shrink mechanism to match the length of speech representation with that of the corresponding text transcription. To obtain better semantic representation, we completely integrate a text-based translation model into the STAST so that two tasks can be trained in the same latent space. Furthermore, we introduce a cross-modal adaptation method to close the distance between speech and text representation. Experimental results on English-French and English-German speech translation corpora have shown that our model significantly outperforms strong baselines, and achieves the new state-of-the-art performance.
TurboKV: Scaling Up The Performance of Distributed Key-Value Stores With In-Switch Coordination
Venue: arXiv cs.DC 2020
Year: 2020

The power and flexibility of software-defined networks lead to a programmable network infrastructure in which in-network computation can help accelerating the performance of applications. This can be achieved by offloading some computational tasks to the network. However, what kind of computational tasks should be delegated to the network to accelerate applications performance? In this paper, we propose a way to exploit the usage of programmable switches to scale up the performance of distributed key-value stores. Moreover, as a proof-of-concept, we propose TurboKV, an efficient distributed key-value store architecture that utilizes programmable switches as: 1) partition management nodes to store the key-value store partitions and replicas information; and 2) monitoring stations to measure the load of storage nodes, this monitoring information is used to balance the load among storage nodes. We also propose a key-based routing protocol to route the search queries of clients based on the requested keys to targeted storage nodes. Our experimental results of an initial prototype show that our proposed architecture improves the throughput and reduces the latency of distributed key-value stores when compared to the existing architectures.
Three Applications of Entropy to Gerrymandering
Venue: arXiv cs.IT 2020
Year: 2020

This preprint is an exploration in how a single mathematical idea - entropy - can be applied to redistricting in a number of ways. It's meant to be read not so much as a call to action for entropy, but as a case study illustrating one of the many ways math can inform our thinking on redistricting problems. This preprint was prepared as a chapter in the forthcoming edited volume Political Geometry, an interdisciplinary collection of essays on redistricting. (mggg.org/gerrybook)
Object Hider: Adversarial Patch Attack Against Object Detectors
Venue: arXiv cs.CV 2020
Year: 2020

Deep neural networks have been widely used in many computer vision tasks. However, it is proved that they are susceptible to small, imperceptible perturbations added to the input. Inputs with elaborately designed perturbations that can fool deep learning models are called adversarial examples, and they have drawn great concerns about the safety of deep neural networks. Object detection algorithms are designed to locate and classify objects in images or videos and they are the core of many computer vision tasks, which have great research value and wide applications. In this paper, we focus on adversarial attack on some state-of-the-art object detection models. As a practical alternative, we use adversarial patches for the attack. Two adversarial patch generation algorithms have been proposed: the heatmap-based algorithm and the consensus-based algorithm. The experiment results have shown that the proposed methods are highly effective, transferable and generic. Additionally, we have applied the proposed methods to competition "Adversarial Challenge on Object Detection" that is organized by Alibaba on the Tianchi platform and won top 7 in 1701 teams. Code is available at: https://github.com/FenHua/DetDak
Parallelizing multiple precision Taylor series method for integrating the Lorenz system
Venue: arXiv cs.MS 2020
Year: 2020

A hybrid MPI+OpenMP strategy for parallelizing multiple precision Taylor series method is proposed, realized and tested. To parallelize the algorithm we combine MPI and OpenMP parallel technologies together with GMP library (GNU miltiple precision libary) and the tiny MPIGMP library. The details of the parallelization are explained on the paradigmatic model of the Lorenz system. We succeed to obtain a correct reference solution in the rather long time interval - [0,7000]. The solution is verified by comparing the results for 2700-th order Taylor series method and precision of ~ 3374 decimal digits, and those with 2800-th order and precision of ~ 3510 decimal digits. With 192 CPU cores in Nestum cluster, Sofia, Bulgaria, the 2800-th order computation was ~ 145 hours with speedup ~ 105.
Real-valued Evolutionary Multi-modal Multi-objective Optimization by Hill-Valley Clustering
Venue: arXiv cs.NE 2020
Year: 2020

In model-based evolutionary algorithms (EAs), the underlying search distribution is adapted to the problem at hand, for example based on dependencies between decision variables. Hill-valley clustering is an adaptive niching method in which a set of solutions is clustered such that each cluster corresponds to a single mode in the fitness landscape. This can be used to adapt the search distribution of an EA to the number of modes, exploring each mode separately. Especially in a black-box setting, where the number of modes is a priori unknown, an adaptive approach is essential for good performance. In this work, we introduce multi-objective hill-valley clustering and combine it with MAMaLGaM, a multi-objective EA, into the multi-objective hill-valley EA (MO-HillVallEA). We empirically show that MO-HillVallEA outperforms MAMaLGaM and other well-known multi-objective optimization algorithms on a set of benchmark functions. Furthermore, and perhaps most important, we show that MO-HillVallEA is capable of obtaining and maintaining multiple approximation sets simultaneously over time.