OpenRaiser/Intern-Atlas huggingface dataset:
MORPH: An Adaptive Framework for Efficient and Byzantine Fault-Tolerant SDN Control Plane
Venue: arXiv cs.NI 2019
Year: 2019

Current approaches to tackle the single point of failure in SDN entail a distributed operation of SDN controller instances. Their state synchronization process is reliant on the assumption of a correct decision-making in the controllers. Successful introduction of SDN in the critical infrastructure networks also requires catering to the issue of unavailable, unreliable (e.g. buggy), and malicious controller failures. We propose MORPH, a framework tolerant to unavailability and Byzantine failures, which distinguishes and localizes faulty controller instances and appropriately reconfigures the control plane. Our controller-switch connection assignment leverages the awareness of the source of failure to optimize the number of active controllers and minimize the controller and switch reconfiguration delays. The proposed re-assignment executes dynamically after each successful failure identification. We require 2FM + FA +1 controllers to tolerate FM malicious and FA availability-induced failures. After a successful detection of FM malicious controllers, MORPH reconfigures the control plane to require a single controller message to forward the system state. Moreover, we outline and present a solution to the practical correctness issues related to the statefulness of the distributed SDN controller applications, previously ignored in the literature. We base our performance analysis on a resource-aware routing application, deployed in an emulated testbed comprising up to 16 controllers and up to 34 switches, so to tolerate up to 5 unique Byzantine and additional 5 availability-induced controller failures (a total of 10 unique controller failures). We quantify and highlight the dynamic decrease in the packet and CPU load and the response time after each successful failure detection.
Commodifying Pointing in HRI: Simple and Fast Pointing Gesture Detection from RGB-D Images
Venue: arXiv cs.RO 2019
Year: 2019

We present and characterize a simple method for detecting pointing gestures suitable for human-robot interaction applications using a commodity RGB-D camera. We exploit a state-of-the-art Deep CNN-based detector to find hands and faces in RGB images, then examine the corresponding depth channel pixels to obtain full 3D pointing vectors. We test several methods of estimating the hand end-point of the pointing vector. The system runs at better than 30Hz on commodity hardware: exceeding the frame rate of typical RGB-D sensors. An estimate of the absolute pointing accuracy is found empirically by comparison with ground-truth data from a VICON motion-capture system, and the useful interaction volume established. Finally, we show an end-to-end test where a robot estimates where the pointing vector intersects the ground plane, and report the accuracy obtained. We provide source code as a ROS node, with the intention of contributing a commodity implementation of this common component in HRI systems.
Significance of Episodes Based on Minimal Windows
Venue: arXiv cs.DS 2019
Year: 2019

Discovering episodes, frequent sets of events from a sequence has been an active field in pattern mining. Traditionally, a level-wise approach is used to discover all frequent episodes. While this technique is computationally feasible it may result in a vast number of patterns, especially when low thresholds are used. In this paper we propose a new quality measure for episodes. We say that an episode is significant if the average length of its minimal windows deviates greatly when compared to the expected length according to the independence model. We can apply this measure as a post-pruning step to test whether the discovered frequent episodes are truly interesting and consequently to reduce the number of output. As a main contribution we introduce a technique that allows us to compute the distribution of lengths of minimal windows using the independence model. Such a computation task is surpisingly complex and in order to solve it we compute the distribution iteratively starting from simple episodes and progressively moving towards the more complex ones. In our experiments we discover candidate episodes that have a sufficient amount of minimal windows and test each candidate for significance. The experimental results demonstrate that our approach finds significant episodes while ignoring uninteresting ones.
ML Health: Fitness Tracking for Production Models
Venue: arXiv cs.LG 2019
Year: 2019

Deployment of machine learning (ML) algorithms in production for extended periods of time has uncovered new challenges such as monitoring and management of real-time prediction quality of a model in the absence of labels. However, such tracking is imperative to prevent catastrophic business outcomes resulting from incorrect predictions. The scale of these deployments makes manual monitoring prohibitive, making automated techniques to track and raise alerts imperative. We present a framework, ML Health, for tracking potential drops in the predictive performance of ML models in the absence of labels. The framework employs diagnostic methods to generate alerts for further investigation. We develop one such method to monitor potential problems when production data patterns do not match training data distributions. We demonstrate that our method performs better than standard "distance metrics", such as RMSE, KL-Divergence, and Wasserstein at detecting issues with mismatched data sets. Finally, we present a working system that incorporates the ML Health approach to monitor and manage ML deployments within a realistic full production ML lifecycle.
The Long and the Short of It: Summarising Event Sequences with Serial Episodes
Venue: arXiv cs.DS 2019
Year: 2019

An ideal outcome of pattern mining is a small set of informative patterns, containing no redundancy or noise, that identifies the key structure of the data at hand. Standard frequent pattern miners do not achieve this goal, as due to the pattern explosion typically very large numbers of highly redundant patterns are returned. We pursue the ideal for sequential data, by employing a pattern set mining approach-an approach where, instead of ranking patterns individually, we consider results as a whole. Pattern set mining has been successfully applied to transactional data, but has been surprisingly under studied for sequential data. In this paper, we employ the MDL principle to identify the set of sequential patterns that summarises the data best. In particular, we formalise how to encode sequential data using sets of serial episodes, and use the encoded length as a quality score. As search strategy, we propose two approaches: the first algorithm selects a good pattern set from a large candidate set, while the second is a parameter-free any-time algorithm that mines pattern sets directly from the data. Experimentation on synthetic and real data demonstrates we efficiently discover small sets of informative patterns.
Accuracy vs. Computational Cost Tradeoff in Distributed Computer System Simulation
Venue: arXiv cs.DC 2019
Year: 2019

Simulation is a fundamental research tool in the computer architecture field. These kinds of tools enable the exploration and evaluation of architectural proposals capturing the most relevant aspects of the highly complex systems under study. Many state-of-the-art simulation tools focus on single-system scenarios, but the scalability required by trending applications has shifted towards distributed computing systems integrated via complex software stacks. Web services with client-server architectures or distributed storage and processing of scale-out data analytics (Big Data) are among the main exponents. The complete simulation of a distributed computer system is the appropriate methodology to conduct accurate evaluations. Unfortunately, this methodology could have a significant impact on the already large computational effort derived from detailed simulation. In this work, we conduct a set of experiments to evaluate this accuracy/cost tradeoff. We measure the error made if client-server applications are evaluated in a single-node environment, as well as the overhead induced by the methodology and simulation tool employed for multi-node simulations. We quantify this error for different micro-architecture components, such as last-level cache and instruction/data TLB. Our findings show that accuracy loss can lead to completely wrong conclusions about the effects of proposed hardware optimizations. Fortunately, our results also demonstrate that the computational overhead of a multi-node simulation framework is affordable, suggesting multi-node simulation as the most appropriate methodology.
3D Human Pose Estimation from Deep Multi-View 2D Pose
Venue: arXiv cs.CV 2019
Year: 2019

Human pose estimation - the process of recognizing a human's limb positions and orientations in a video - has many important applications including surveillance, diagnosis of movement disorders, and computer animation. While deep learning has lead to great advances in 2D and 3D pose estimation from single video sources, the problem of estimating 3D human pose from multiple video sensors with overlapping fields of view has received less attention. When the application allows use of multiple cameras, 3D human pose estimates may be greatly improved through fusion of multi-view pose estimates and observation of limbs that are fully or partially occluded in some views. Past approaches to multi-view 3D pose estimation have used probabilistic graphical models to reason over constraints, including per-image pose estimates, temporal smoothness, and limb length. In this paper, we present a pipeline for multi-view 3D pose estimation of multiple individuals which combines a state-of-art 2D pose detector with a factor graph of 3D limb constraints optimized with belief propagation. We evaluate our results on the TUM-Campus and Shelf datasets for multi-person 3D pose estimation and show that our system significantly out-performs the previous state-of-the-art with a simpler model of limb dependency.
Lower Bounds for Learning Distributions under Communication Constraints via Fisher Information
Venue: arXiv cs.IT 2019
Year: 2019

We consider the problem of learning high-dimensional, nonparametric and structured (e.g. Gaussian) distributions in distributed networks, where each node in the network observes an independent sample from the underlying distribution and can use $k$ bits to communicate its sample to a central processor. We consider three different models for communication. Under the independent model, each node communicates its sample to a central processor by independently encoding it into $k$ bits. Under the more general sequential or blackboard communication models, nodes can share information interactively but each node is restricted to write at most $k$ bits on the final transcript. We characterize the impact of the communication constraint $k$ on the minimax risk of estimating the underlying distribution under $\ell^2$ loss. We develop minimax lower bounds that apply in a unified way to many common statistical models and reveal that the impact of the communication constraint can be qualitatively different depending on the tail behavior of the score function associated with each model. A key ingredient in our proofs is a geometric characterization of Fisher information from quantized samples.
Design of Non-Orthogonal Beamspace Multiple Access for Cellular Internet-of-Things
Venue: arXiv cs.IT 2019
Year: 2019

In this paper, we study the problem of massive connections over limited radio spectrum for the cellular Internet-of-Things (IoT) in the fifth-generation (5G) wireless network. To address the challenging issues associated with channel state information (CSI) acquisition and beam design in the context of massive connections, we propose a new non-orthogonal beamspace multiple access framework. In particular, the user equipments (UEs) are non-orthogonal not only in the temporal-frequency domain, but also in the beam domain. We analyze the performance of the proposed non-orthogonal beamspace multiple access scheme, and derive an upper bound on the weighted sum rate in terms of channel conditions and system parameters. For further improving the performance, we propose three non-orthogonal transmit beam construction algorithms with different beamspace resolutions. Finally, extensive simulation results show that substantial performance gain can be obtained by the proposed non-orthogonal beamspace multiple access scheme over the baseline ones.
X3D in Urban Planning - Savannah in 3D
Venue: arXiv cs.GR 2019
Year: 2019

Urban planning often raises complex issues that are difficult to visualize and challenging to communicate. The increasing availability of 3D modeling standards has provided the opportunity for many developers, engineers, designers, planners, investors, and government officials to effectively collaborate to bring projects to fruition. Because of its real-time interactivity and widespread web-based content players, X3D proves to be a good choice for developing and visualizing 3D city content on the Web for planning purposes. Passenger rail is a viable and cost-effective transportation solution in many areas, especially in view of rising energy costs. The Savannah in 3D (or S3D) project is a multimedia tool for a feasibility study designed to bring passenger rail to Savannah; thereby opening up the historic, tourist-friendly city to a wider audience. The paper outlines the development process of an interactive 3D train model as it journeys from Atlanta to Savannah, Georgia - focusing on user interactivity and scene immersion to supplement the city and transportation planning agenda.
Source Traces for Temporal Difference Learning
Venue: arXiv cs.LG 2019
Year: 2019

This paper motivates and develops source traces for temporal difference (TD) learning in the tabular setting. Source traces are like eligibility traces, but model potential histories rather than immediate ones. This allows TD errors to be propagated to potential causal states and leads to faster generalization. Source traces can be thought of as the model-based, backward view of successor representations (SR), and share many of the same benefits. This view, however, suggests several new ideas. First, a TD($λ$)-like source learning algorithm is proposed and its convergence is proven. Then, a novel algorithm for learning the source map (or SR matrix) is developed and shown to outperform the previous algorithm. Finally, various approaches to using the source/SR model are explored, and it is shown that source traces can be effectively combined with other model-based methods like Dyna and experience replay.
AdaScale: Towards Real-time Video Object Detection Using Adaptive Scaling
Venue: arXiv cs.CV 2019
Year: 2019

In vision-enabled autonomous systems such as robots and autonomous cars, video object detection plays a crucial role, and both its speed and accuracy are important factors to provide reliable operation. The key insight we show in this paper is that speed and accuracy are not necessarily a trade-off when it comes to image scaling. Our results show that re-scaling the image to a lower resolution will sometimes produce better accuracy. Based on this observation, we propose a novel approach, dubbed AdaScale, which adaptively selects the input image scale that improves both accuracy and speed for video object detection. To this end, our results on ImageNet VID and mini YouTube-BoundingBoxes datasets demonstrate 1.3 points and 2.7 points mAP improvement with 1.6x and 1.8x speedup, respectively. Additionally, we improve state-of-the-art video acceleration work by an extra 1.25x speedup with slightly better mAP on ImageNet VID dataset.
Are your Items in Order?
Venue: arXiv cs.DS 2019
Year: 2019

Items in many datasets can be arranged to a natural order. Such orders are useful since they can provide new knowledge about the data and may ease further data exploration and visualization. Our goal in this paper is to define a statistically well-founded and an objective score measuring the quality of an order. Such a measure can be used for determining whether the current order has any valuable information or can it be discarded. Intuitively, we say that the order is good if dependent attributes are close to each other. To define the order score we fit an order-sensitive model to the dataset. Our model resembles a Markov chain model, that is, the attributes depend only on the immediate neighbors. The score of the order is the BIC score of the best model. For computing the measure we introduce a fast dynamic program. The score is then compared against random orders: if it is better than the scores of the random orders, we say that the order is good. We also show the asymptotic connection between the score function and the number of free parameters of the model. In addition, we introduce a simple greedy approach for finding an order with a good score. We evaluate the score for synthetic and real datasets using different spectral orders and the orders obtained with the greedy method.
Can Genetic Programming Do Manifold Learning Too?
Venue: arXiv cs.NE 2019
Year: 2019

Exploratory data analysis is a fundamental aspect of knowledge discovery that aims to find the main characteristics of a dataset. Dimensionality reduction, such as manifold learning, is often used to reduce the number of features in a dataset to a manageable level for human interpretation. Despite this, most manifold learning techniques do not explain anything about the original features nor the true characteristics of a dataset. In this paper, we propose a genetic programming approach to manifold learning called GP-MaL which evolves functional mappings from a high-dimensional space to a lower dimensional space through the use of interpretable trees. We show that GP-MaL is competitive with existing manifold learning algorithms, while producing models that can be interpreted and re-used on unseen data. A number of promising future directions of research are found in the process.
SYM: Toward a New Tool in User's Mood Determination
Venue: arXiv cs.HC 2019
Year: 2019

Even though the emotional state is increasingly taken into account in scientific studies aimed at determining user experience of user acceptance, there are still only a few normalized tools. In this article, we decided to focus on mood determination as we consider this affective state to be more pervasive and more understandable by the person who is experiencing it. Thus, we propose a prototypical tool called SYM (Spot Your Mood) as a new tool in user mood determination to be used in many different situations.
Bandit Principal Component Analysis
Venue: arXiv cs.LG 2019
Year: 2019

We consider a partial-feedback variant of the well-studied online PCA problem where a learner attempts to predict a sequence of $d$-dimensional vectors in terms of a quadratic loss, while only having limited feedback about the environment's choices. We focus on a natural notion of bandit feedback where the learner only observes the loss associated with its own prediction. Based on the classical observation that this decision-making problem can be lifted to the space of density matrices, we propose an algorithm that is shown to achieve a regret of $O(d^{3/2}\sqrt{T})$ after $T$ rounds in the worst case. We also prove data-dependent bounds that improve on the basic result when the loss matrices of the environment have bounded rank or the loss of the best action is bounded. One version of our algorithm runs in $O(d)$ time per trial which massively improves over every previously known online PCA method. We complement these results by a lower bound of $Ω(d\sqrt{T})$.
A Framework for Autonomous Robot Deployment with Perfect Demand Satisfaction using Virtual Forces
Venue: arXiv cs.NI 2019
Year: 2019

In many applications, robots autonomous deployment is preferable and sometimes it is the only affordable solution. To address this issue, virtual force (VF) is one of the prominent approaches to performing multirobot deployment autonomously. However, most of the existing VF-based approaches consider only a uniform deployment to maximize the covered area while ignoring the criticality of specific locations during the deployment process. To overcome these limitations, we present a framework for autonomously deploy robots or vehicles using virtual force. The framework is composed of two stages. In the first stage, a two-hop Cooperative Virtual Force based Robots Deployment (Two-hop COVER) is employed where a cooperative relation between robots and neighboring landmarks is established to satisfy mission requirements. The second stage complements the first stage and ensures perfect demand satisfaction by utilizing the Trace Fingerprint technique which collected traces while each robot traversing the deployment area. Finally, a fairness-aware version of Two-hop COVER is presented to consider scenarios where the mission requirements are greater than the available resources (i.e. robots). We evaluate our framework via extensive simulations. The results demonstrate outstanding performance compared to contemporary approaches in terms of total travelled distance, total exchanged messages, total deployment time, and Jain fairness index.
Bounded Fuzzy Possibilistic Method
Venue: arXiv cs.LG 2019
Year: 2019

This paper introduces Bounded Fuzzy Possibilistic Method (BFPM) by addressing several issues that previous clustering/classification methods have not considered. In fuzzy clustering, object's membership values should sum to 1. Hence, any object may obtain full membership in at most one cluster. Possibilistic clustering methods remove this restriction. However, BFPM differs from previous fuzzy and possibilistic clustering approaches by allowing the membership function to take larger values with respect to all clusters. Furthermore, in BFPM, a data object can have full membership in multiple clusters or even in all clusters. BFPM relaxes the boundary conditions (restrictions) in membership assignment. The proposed methodology satisfies the necessity of obtaining full memberships and overcomes the issues with conventional methods on dealing with overlapping. Analysing the objects' movements from their own cluster to another (mutation) is also proposed in this paper. BFPM has been applied in different domains in geometry, set theory, anomaly detection, risk management, diagnosis diseases, and other disciplines. Validity and comparison indexes have been also used to evaluate the accuracy of BFPM. BFPM has been evaluated in terms of accuracy, fuzzification constant (different norms), objects' movement analysis, and covering diversity. The promising results prove the importance of considering the proposed methodology in learning methods to track the behaviour of data objects, in addition to obtain accurate results.