OpenRaiser/Intern-Atlas huggingface dataset:
MobilePhys: Personalized Mobile Camera-Based Contactless Physiological Sensing
Venue: arXiv cs.CV 2022
Year: 2022

Camera-based contactless photoplethysmography refers to a set of popular techniques for contactless physiological measurement. The current state-of-the-art neural models are typically trained in a supervised manner using videos accompanied by gold standard physiological measurements. However, they often generalize poorly out-of-domain examples (i.e., videos that are unlike those in the training set). Personalizing models can help improve model generalizability, but many personalization techniques still require some gold standard data. To help alleviate this dependency, in this paper, we present a novel mobile sensing system called MobilePhys, the first mobile personalized remote physiological sensing system, that leverages both front and rear cameras on a smartphone to generate high-quality self-supervised labels for training personalized contactless camera-based PPG models. To evaluate the robustness of MobilePhys, we conducted a user study with 39 participants who completed a set of tasks under different mobile devices, lighting conditions/intensities, motion tasks, and skin types. Our results show that MobilePhys significantly outperforms the state-of-the-art on-device supervised training and few-shot adaptation methods. Through extensive user studies, we further examine how does MobilePhys perform in complex real-world settings. We envision that calibrated or personalized camera-based contactless PPG models generated from our proposed dual-camera mobile sensing system will open the door for numerous future applications such as smart mirrors, fitness and mobile health applications.
Data transformation based optimized customer churn prediction model for the telecommunication industry
Venue: arXiv cs.LG 2022
Year: 2022

Data transformation (DT) is a process that transfers the original data into a form which supports a particular classification algorithm and helps to analyze the data for a special purpose. To improve the prediction performance we investigated various data transform methods. This study is conducted in a customer churn prediction (CCP) context in the telecommunication industry (TCI), where customer attrition is a common phenomenon. We have proposed a novel approach of combining data transformation methods with the machine learning models for the CCP problem. We conducted our experiments on publicly available TCI datasets and assessed the performance in terms of the widely used evaluation measures (e.g. AUC, precision, recall, and F-measure). In this study, we presented comprehensive comparisons to affirm the effect of the transformation methods. The comparison results and statistical test proved that most of the proposed data transformation based optimized models improve the performance of CCP significantly. Overall, an efficient and optimized CCP model for the telecommunication industry has been presented through this manuscript.
CLOVER Robot: A Minimally Actuated Jumping Robotic Platform for Space Exploration
Venue: arXiv cs.RO 2022
Year: 2022

Robots have been critical instruments to space exploration by providing access to environments beyond human limitations. Jumping robot concepts are attractive solutions to negotiate complex terrain. However, among the engineering challenges to overcome to enable jumping robot concepts for sustained operation, reduction of mechanical failure modes is one of the most fundamental. This study set out to develop a jumping robot with focus on minimal actuation for reduced mechanism maintenance. We present the synthesis of a Sarrus-style linkage to constraint the system to a single translational degree of freedom without the use of typical synchronising gears. We delimit the present research to vertical solid jumps to assess the performance of the fundamental main-drive linkage. A laboratory demonstrator assists the transfer of theoretical concepts and approaches. The laboratory demonstrator performs jumps with 63% potential-to-kinetic energy conversion efficiency, with a theoretical maximum of 73%. Satisfactory operation opens up design optimisation and directional jump capability towards the development of a jumping robotic platform for space exploration.
MDPose: Human Skeletal Motion Reconstruction Using WiFi Micro-Doppler Signatures
Venue: arXiv cs.CV 2022
Year: 2022

Motion tracking systems based on optical sensors typically often suffer from issues, such as poor lighting conditions, occlusion, limited coverage, and may raise privacy concerns. More recently, radio frequency (RF)-based approaches using commercial WiFi devices have emerged which offer low-cost ubiquitous sensing whilst preserving privacy. However, the output of an RF sensing system, such as Range-Doppler spectrograms, cannot represent human motion intuitively and usually requires further processing. In this study, MDPose, a novel framework for human skeletal motion reconstruction based on WiFi micro-Doppler signatures, is proposed. It provides an effective solution to track human activities by reconstructing a skeleton model with 17 key points, which can assist with the interpretation of conventional RF sensing outputs in a more understandable way. Specifically, MDPose has various incremental stages to gradually address a series of challenges: First, a denoising algorithm is implemented to remove any unwanted noise that may affect the feature extraction and enhance weak Doppler signatures. Secondly, the convolutional neural network (CNN)-recurrent neural network (RNN) architecture is applied to learn temporal-spatial dependency from clean micro-Doppler signatures and restore key points' velocity information. Finally, a pose optimising mechanism is employed to estimate the initial state of the skeleton and to limit the increase of error. We have conducted comprehensive tests in a variety of environments using numerous subjects with a single receiver radar system to demonstrate the performance of MDPose, and report 29.4mm mean absolute error over all key points positions, which outperforms state-of-the-art RF-based pose estimation systems.
The Information Velocity of Packet-Erasure Links
Venue: arXiv cs.IT 2022
Year: 2022

We consider the problem of in-order packet transmission over a cascade of packet-erasure links with acknowledgment (ACK) signals, interconnected by relays. We treat first the case of transmitting a single packet, in which ACKs are unnecessary, over links with independent identically distributed erasures. For this case, we derive tight upper and lower bounds on the probability of arrive failure within an allowed end-to-end communication delay over a given number of links. When the number of links is commensurate with the allowed delay, we determine the maximal ratio between the two -- coined information velocity -- for which the arrive-failure probability decays to zero; we further derive bounds on the arrive-failure probability when the ratio is below the information velocity, determine the exponential arrive-failure decay rate, and extend the treatment to links with different erasure probabilities. We then elevate all these results for a stream of packets with independent geometrically distributed interarrival times, and prove that the information velocity and the exponential decay rate remain the same for any stationary ergodic arrival process and for deterministic interarrival times. We demonstrate the significance of the derived fundamental limits -- the information velocity and the arrive-failure exponential decay rate -- by comparing them to simulation results.
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control
Venue: arXiv cs.RO 2022
Year: 2022

Real-time robot motion planning in complex high-dimensional environments remains an open problem. Motion planning algorithms, and their underlying collision checkers, are crucial to any robot control stack. Collision checking takes up a large portion of the computational time in robot motion planning. Existing collision checkers make trade-offs between speed and accuracy and scale poorly to high-dimensional, complex environments. We present a novel space decomposition method using K-Means clustering in the Forward Kinematics space to accelerate proxy collision checking. We train individual configuration space models using Fastron, a kernel perceptron algorithm, on these decomposed subspaces, yielding compact yet highly accurate models that can be queried rapidly and scale better to more complex environments. We demonstrate this new method, called Decomposed Fast Perceptron (D-Fastron), on the 7-DOF Baxter robot producing on average 29x faster collision checks and up to 9.8x faster motion planning compared to state-of-the-art geometric collision checkers.
Reconfiguration of Spanning Trees with Degree Constraint or Diameter Constraint
Venue: arXiv cs.DS 2022
Year: 2022

We investigate the complexity of finding a transformation from a given spanning tree in a graph to another given spanning tree in the same graph via a sequence of edge flips. The exchange property of the matroid bases immediately yields that such a transformation always exists if we have no constraints on spanning trees. In this paper, we wish to find a transformation which passes through only spanning trees satisfying some constraint. Our focus is bounding either the maximum degree or the diameter of spanning trees, and we give the following results. The problem with a lower bound on maximum degree is solvable in polynomial time, while the problem with an upper bound on maximum degree is PSPACE-complete. The problem with a lower bound on diameter is NP-hard, while the problem with an upper bound on diameter is solvable in polynomial time.
Preventing Manifold Intrusion with Locality: Local Mixup
Venue: arXiv cs.LG 2022
Year: 2022

Mixup is a data-dependent regularization technique that consists in linearly interpolating input samples and associated outputs. It has been shown to improve accuracy when used to train on standard machine learning datasets. However, authors have pointed out that Mixup can produce out-of-distribution virtual samples and even contradictions in the augmented training set, potentially resulting in adversarial effects. In this paper, we introduce Local Mixup in which distant input samples are weighted down when computing the loss. In constrained settings we demonstrate that Local Mixup can create a trade-off between bias and variance, with the extreme cases reducing to vanilla training and classical Mixup. Using standardized computer vision benchmarks , we also show that Local Mixup can improve test accuracy.
TA-LRW: A Replacement Policy for Error Rate Reduction in STT-MRAM Caches
Venue: arXiv cs.AR 2022
Year: 2022

As technology process node scales down, on-chip SRAM caches lose their efficiency because of their low scalability, high leakage power, and increasing rate of soft errors. Among emerging memory technologies, Spin-Transfer Torque Magnetic RAM (STT-MRAM) is known as the most promising replacement for SRAM-based cache memories. The main advantages of STT-MRAM are its non-volatility, near-zero leakage power, higher density, soft-error immunity, and higher scalability. Despite these advantages, the high error rate in STT-MRAM cells due to retention failure, write failure, and read disturbance threatens the reliability of cache memories built upon STT-MRAM technology. The error rate is significantly increased in higher temperatures, which further affects the reliability of STT-MRAM-based cache memories. The major source of heat generation and temperature increase in STT-MRAM cache memories is write operations, which are managed by cache replacement policy. In this paper, we first analyze the cache behavior in the conventional LRU replacement policy and demonstrate that the majority of consecutive write operations (more than 66%) are committed to adjacent cache blocks. These adjacent write operations cause accumulated heat and increased temperature, which significantly increases the cache error rate. To eliminate heat accumulation and the adjacency of consecutive writes, we propose a cache replacement policy, named Thermal-Aware Least-Recently Written (TA-LRW), to smoothly distribute the generated heat by conducting consecutive write operations in distant cache blocks. TA-LRW guarantees the distance of at least three blocks for each two consecutive write operations in an 8-way associative cache. This distant write scheme reduces the temperature-induced error rate by 94.8%, on average, compared with the conventional LRU policy, which results in 6.9x reduction in cache error rate.
Differentiating Geographic Movement Described in Text Documents
Venue: arXiv cs.CL 2022
Year: 2022

Understanding movement described in text documents is important since text descriptions of movement contain a wealth of geographic and contextual information about the movement of people, wildlife, goods, and much more. Our research makes several contributions to improve our understanding of movement descriptions in text. First, we show how interpreting geographic movement described in text is challenging because of general spatial terms, linguistic constructions that make the thing(s) moving unclear, and many types of temporal references and groupings, among others. Next, as a step to overcome these challenges, we report on an experiment with human subjects through which we identify multiple important characteristics of movement descriptions (found in text) that humans use to differentiate one movement description from another. Based on our empirical results, we provide recommendations for computational analysis using movement described in text documents. Our findings contribute towards an improved understanding of the important characteristics of the underused information about geographic movement that is in the form of text descriptions.
Multi-task Joint Strategies of Self-supervised Representation Learning on Biomedical Networks for Drug Discovery
Venue: arXiv cs.LG 2022
Year: 2022

Self-supervised representation learning (SSL) on biomedical networks provides new opportunities for drug discovery. However, how to effectively combine multiple SSL models is still challenging and has been rarely explored. Therefore, we propose multi-task joint strategies of self-supervised representation learning on biomedical networks for drug discovery, named MSSL2drug. We design six basic SSL tasks inspired by various modality features including structures, semantics, and attributes in heterogeneous biomedical networks. Importantly, fifteen combinations of multiple tasks are evaluated by a graph attention-based multi-task adversarial learning framework in two drug discovery scenarios. The results suggest two important findings. (1) Combinations of multimodal tasks achieve the best performance compared to other multi-task joint models. (2) The local-global combination models yield higher performance than random two-task combinations when there are the same size of modalities. Therefore, we conjecture that the multimodal and local-global combination strategies can be treated as the guideline of multi-task SSL for drug discovery.
Real-Time Style Modelling of Human Locomotion via Feature-Wise Transformations and Local Motion Phases
Venue: arXiv cs.GR 2022
Year: 2022

Controlling the manner in which a character moves in a real-time animation system is a challenging task with useful applications. Existing style transfer systems require access to a reference content motion clip, however, in real-time systems the future motion content is unknown and liable to change with user input. In this work we present a style modelling system that uses an animation synthesis network to model motion content based on local motion phases. An additional style modulation network uses feature-wise transformations to modulate style in real-time. To evaluate our method, we create and release a new style modelling dataset, 100STYLE, containing over 4 million frames of stylised locomotion data in 100 different styles that present a number of challenges for existing systems. To model these styles, we extend the local phase calculation with a contact-free formulation. In comparison to other methods for real-time style modelling, we show our system is more robust and efficient in its style representation while improving motion quality.
SLISEMAP: Supervised dimensionality reduction through local explanations
Venue: arXiv cs.LG 2022
Year: 2022

Existing methods for explaining black box learning models often focus on building local explanations of model behaviour for a particular data item. It is possible to create global explanations for all data items, but these explanations generally have low fidelity for complex black box models. We propose a new supervised manifold visualisation method, SLISEMAP, that simultaneously finds local explanations for all data items and builds a (typically) two-dimensional global visualisation of the black box model such that data items with similar local explanations are projected nearby. We provide a mathematical derivation of our problem and an open source implementation implemented using the GPU-optimised PyTorch library. We compare SLISEMAP to multiple popular dimensionality reduction methods and find that SLISEMAP is able to utilise labelled data to create embeddings with consistent local white box models. We also compare SLISEMAP to other model-agnostic local explanation methods and show that SLISEMAP provides comparable explanations and that the visualisations can give a broader understanding of black box regression and classification models.
Diagnosing BERT with Retrieval Heuristics
Venue: arXiv cs.IR 2022
Year: 2022

Word embeddings, made widely popular in 2013 with the release of word2vec, have become a mainstay of NLP engineering pipelines. Recently, with the release of BERT, word embeddings have moved from the term-based embedding space to the contextual embedding space -- each term is no longer represented by a single low-dimensional vector but instead each term and \emph{its context} determine the vector weights. BERT's setup and architecture have been shown to be general enough to be applicable to many natural language tasks. Importantly for Information Retrieval (IR), in contrast to prior deep learning solutions to IR problems which required significant tuning of neural net architectures and training regimes, "vanilla BERT" has been shown to outperform existing retrieval algorithms by a wide margin, including on tasks and corpora that have long resisted retrieval effectiveness gains over traditional IR baselines (such as Robust04). In this paper, we employ the recently proposed axiomatic dataset analysis technique -- that is, we create diagnostic datasets that each fulfil a retrieval heuristic (both term matching and semantic-based) -- to explore what BERT is able to learn. In contrast to our expectations, we find BERT, when applied to a recently released large-scale web corpus with ad-hoc topics, to \emph{not} adhere to any of the explored axioms. At the same time, BERT outperforms the traditional query likelihood retrieval model by 40\%. This means that the axiomatic approach to IR (and its extension of diagnostic datasets created for retrieval heuristics) may in its current form not be applicable to large-scale corpora. Additional -- different -- axioms are needed.
Globally Optimal Multi-Scale Monocular Hand-Eye Calibration Using Dual Quaternions
Venue: arXiv cs.RO 2022
Year: 2022

In this work, we present an approach for monocular hand-eye calibration from per-sensor ego-motion based on dual quaternions. Due to non-metrically scaled translations of monocular odometry, a scaling factor has to be estimated in addition to the rotation and translation calibration. For this, we derive a quadratically constrained quadratic program that allows a combined estimation of all extrinsic calibration parameters. Using dual quaternions leads to low run-times due to their compact representation. Our problem formulation further allows to estimate multiple scalings simultaneously for different sequences of the same sensor setup. Based on our problem formulation, we derive both, a fast local and a globally optimal solving approach. Finally, our algorithms are evaluated and compared to state-of-the-art approaches on simulated and real-world data, e.g., the EuRoC MAV dataset.
Big Data = Big Insights? Operationalising Brooks' Law in a Massive GitHub Data Set
Venue: arXiv cs.SE 2022
Year: 2022

Massive data from software repositories and collaboration tools are widely used to study social aspects in software development. One question that several recent works have addressed is how a software project's size and structure influence team productivity, a question famously considered in Brooks' law. Recent studies using massive repository data suggest that developers in larger teams tend to be less productive than smaller teams. Despite using similar methods and data, other studies argue for a positive linear or even super-linear relationship between team size and productivity, thus contesting the view of software economics that software projects are diseconomies of scale. In our work, we study challenges that can explain the disagreement between recent studies of developer productivity in massive repository data. We further provide, to the best of our knowledge, the largest, curated corpus of GitHub projects tailored to investigate the influence of team size and collaboration patterns on individual and collective productivity. Our work contributes to the ongoing discussion on the choice of productivity metrics in the operationalisation of hypotheses about determinants of successful software projects. It further highlights general pitfalls in big data analysis and shows that the use of bigger data sets does not automatically lead to more reliable insights.
How Can Graph Neural Networks Help Document Retrieval: A Case Study on CORD19 with Concept Map Generation
Venue: arXiv cs.IR 2022
Year: 2022

Graph neural networks (GNNs), as a group of powerful tools for representation learning on irregular data, have manifested superiority in various downstream tasks. With unstructured texts represented as concept maps, GNNs can be exploited for tasks like document retrieval. Intrigued by how can GNNs help document retrieval, we conduct an empirical study on a large-scale multi-discipline dataset CORD-19. Results show that instead of the complex structure-oriented GNNs such as GINs and GATs, our proposed semantics-oriented graph functions achieve better and more stable performance based on the BM25 retrieved candidates. Our insights in this case study can serve as a guideline for future work to develop effective GNNs with appropriate semantics-oriented inductive biases for textual reasoning tasks like document retrieval and classification. All code for this case study is available at https://github.com/HennyJie/GNN-DocRetrieval.
Semantic Labeling of Human Action For Visually Impaired And Blind People Scene Interaction
Venue: arXiv cs.CV 2022
Year: 2022

The aim of this work is to contribute to the development of a tactile device for visually impaired and blind persons in order to let them to understand actions of the surrounding people and to interact with them. First, based on the state-of-the-art methods of human action recognition from RGB-D sequences, we use the skeleton information provided by Kinect, with the disentangled and unified multi-scale Graph Convolutional (MS-G3D) model to recognize the performed actions. We tested this model on real scenes and found some of constraints and limitations. Next, we apply a fusion between skeleton modality with MS-G3D and depth modality with CNN in order to bypass the discussed limitations. Third, the recognized actions are labeled semantically and will be mapped into an output device perceivable by the touch sense.