OpenRaiser/Intern-Atlas huggingface dataset:
What is the Best Grid-Map for Self-Driving Cars Localization? An Evaluation under Diverse Types of Illumination, Traffic, and Environment
Venue: arXiv cs.RO 2020
Year: 2020

The localization of self-driving cars is needed for several tasks such as keeping maps updated, tracking objects, and planning. Localization algorithms often take advantage of maps for estimating the car pose. Since maintaining and using several maps is computationally expensive, it is important to analyze which type of map is more adequate for each application. In this work, we provide data for such analysis by comparing the accuracy of a particle filter localization when using occupancy, reflectivity, color, or semantic grid maps. To the best of our knowledge, such evaluation is missing in the literature. For building semantic and colour grid maps, point clouds from a Light Detection and Ranging (LiDAR) sensor are fused with images captured by a front-facing camera. Semantic information is extracted from images with a deep neural network. Experiments are performed in varied environments, under diverse conditions of illumination and traffic. Results show that occupancy grid maps lead to more accurate localization, followed by reflectivity grid maps. In most scenarios, the localization with semantic grid maps kept the position tracking without catastrophic losses, but with errors from 2 to 3 times bigger than the previous. Colour grid maps led to inaccurate and unstable localization even using a robust metric, the entropy correlation coefficient, for comparing online data and the map.
UniNet: Next Term Course Recommendation using Deep Learning
Venue: arXiv cs.CY 2020
Year: 2020

Course enrollment recommendation is a relevant task that helps university students decide what is the best combination of courses to enroll in the next term. In particular, recommender system techniques like matrix factorization and collaborative filtering have been developed to try to solve this problem. As these techniques fail to represent the time-dependent nature of academic performance datasets we propose a deep learning approach using recurrent neural networks that aims to better represent how chronological order of course grades affects the probability of success. We have shown that it is possible to obtain a performance of 81.10% on AUC metric using only grade information and that it is possible to develop a recommender system with academic student performance prediction. This is shown to be meaningful across different student GPA levels and course difficulties
Counteracting Inequality in Markets via Convex Pricing
Venue: arXiv cs.GT 2020
Year: 2020

We study market mechanisms for allocating divisible goods to competing agents with quasilinear utilities. For \emph{linear} pricing (i.e., the cost of a good is proportional to the quantity purchased), the First Welfare Theorem states that Walrasian equilibria maximize the sum of agent valuations. This ensures efficiency, but can lead to extreme inequality across individuals. Many real-world markets -- especially for water -- use \emph{convex} pricing instead, often known as increasing block tariffs (IBTs). IBTs are thought to promote equality, but there is a dearth of theoretical support for this claim. In this paper, we study a simple convex pricing rule and show that the resulting equilibria are guaranteed to maximize a CES welfare function. Furthermore, a parameter of the pricing rule directly determines which CES welfare function is implemented; by tweaking this parameter, the social planner can precisely control the tradeoff between equality and efficiency. Our result holds for any valuations that are homogeneous, differentiable, and concave. We also give an iterative algorithm for computing these pricing rules, derive a truthful mechanism for the case of a single good, and discuss Sybil attacks.
Network and Station-Level Bike-Sharing System Prediction: A San Francisco Bay Area Case Study
Venue: arXiv cs.CY 2020
Year: 2020

The paper develops models for modeling the availability of bikes in the San Francisco Bay Area Bike Share System applying machine learning at two levels: network and station. Investigating BSSs at the station-level is the full problem that would provide policymakers, planners, and operators with the needed level of details to make important choices and conclusions. We used Random Forest and Least-Squares Boosting as univariate regression algorithms to model the number of available bikes at the station-level. For the multivariate regression, we applied Partial Least-Squares Regression (PLSR) to reduce the needed prediction models and reproduce the spatiotemporal interactions in different stations in the system at the network-level. Although prediction errors were slightly lower in the case of univariate models, we found that the multivariate model results were promising for the network-level prediction, especially in systems where there is a relatively large number of stations that are spatially correlated. Moreover, results of the station-level analysis suggested that demographic information and other environmental variables were significant factors to model bikes in BSSs. We also demonstrated that the available bikes modeled at the station-level at time t had a notable influence on the bike count models. Station neighbors and prediction horizon times were found to be significant predictors, with 15 minutes being the most effective prediction horizon time.
Difference-aware Knowledge Selection for Knowledge-grounded Conversation Generation
Venue: arXiv cs.CL 2020
Year: 2020

In a multi-turn knowledge-grounded dialog, the difference between the knowledge selected at different turns usually provides potential clues to knowledge selection, which has been largely neglected in previous research. In this paper, we propose a difference-aware knowledge selection method. It first computes the difference between the candidate knowledge sentences provided at the current turn and those chosen in the previous turns. Then, the differential information is fused with or disentangled from the contextual information to facilitate final knowledge selection. Automatic, human observational, and interactive evaluation shows that our method is able to select knowledge more accurately and generate more informative responses, significantly outperforming the state-of-the-art baselines. The codes are available at https://github.com/chujiezheng/DiffKS.
Instance exploitation for learning temporary concepts from sparsely labeled drifting data streams
Venue: arXiv cs.LG 2020
Year: 2020

Continual learning from streaming data sources becomes more and more popular due to the increasing number of online tools and systems. Dealing with dynamic and everlasting problems poses new challenges for which traditional batch-based offline algorithms turn out to be insufficient in terms of computational time and predictive performance. One of the most crucial limitations is that we cannot assume having access to a finite and complete data set - we always have to be ready for new data that may complement our model. This poses a critical problem of providing labels for potentially unbounded streams. In the real world, we are forced to deal with very strict budget limitations, therefore, we will most likely face the scarcity of annotated instances, which are essential in supervised learning. In our work, we emphasize this problem and propose a novel instance exploitation technique. We show that when: (i) data is characterized by temporary non-stationary concepts, and (ii) there are very few labels spanned across a long time horizon, it is actually better to risk overfitting and adapt models more aggressively by exploiting the only labeled instances we have, instead of sticking to a standard learning mode and suffering from severe underfitting. We present different strategies and configurations for our methods, as well as an ensemble algorithm that attempts to maintain a sweet spot between risky and normal adaptation. Finally, we conduct a complex in-depth comparative analysis of our methods, using state-of-the-art streaming algorithms relevant to the given problem.
Knowledge-Guided Multi-Label Few-Shot Learning for General Image Recognition
Venue: arXiv cs.CV 2020
Year: 2020

Recognizing multiple labels of an image is a practical yet challenging task, and remarkable progress has been achieved by searching for semantic regions and exploiting label dependencies. However, current works utilize RNN/LSTM to implicitly capture sequential region/label dependencies, which cannot fully explore mutual interactions among the semantic regions/labels and do not explicitly integrate label co-occurrences. In addition, these works require large amounts of training samples for each category, and they are unable to generalize to novel categories with limited samples. To address these issues, we propose a knowledge-guided graph routing (KGGR) framework, which unifies prior knowledge of statistical label correlations with deep neural networks. The framework exploits prior knowledge to guide adaptive information propagation among different categories to facilitate multi-label analysis and reduce the dependency of training samples. Specifically, it first builds a structured knowledge graph to correlate different labels based on statistical label co-occurrence. Then, it introduces the label semantics to guide learning semantic-specific features to initialize the graph, and it exploits a graph propagation network to explore graph node interactions, enabling learning contextualized image feature representations. Moreover, we initialize each graph node with the classifier weights for the corresponding label and apply another propagation network to transfer node messages through the graph. In this way, it can facilitate exploiting the information of correlated labels to help train better classifiers. We conduct extensive experiments on the traditional multi-label image recognition (MLR) and multi-label few-shot learning (ML-FSL) tasks and show that our KGGR framework outperforms the current state-of-the-art methods by sizable margins on the public benchmarks.
R$^2$DP: A Universal and Automated Approach to Optimizing the Randomization Mechanisms of Differential Privacy for Utility Metrics with No Known Optimal Distributions
Venue: arXiv cs.CR 2020
Year: 2020

Differential privacy (DP) has emerged as a de facto standard privacy notion for a wide range of applications. Since the meaning of data utility in different applications may vastly differ, a key challenge is to find the optimal randomization mechanism, i.e., the distribution and its parameters, for a given utility metric. Existing works have identified the optimal distributions in some special cases, while leaving all other utility metrics (e.g., usefulness and graph distance) as open problems. Since existing works mostly rely on manual analysis to examine the search space of all distributions, it would be an expensive process to repeat such efforts for each utility metric. To address such deficiency, we propose a novel approach that can automatically optimize different utility metrics found in diverse applications under a common framework. Our key idea that, by regarding the variance of the injected noise itself as a random variable, a two-fold distribution may approximately cover the search space of all distributions. Therefore, we can automatically find distributions in this search space to optimize different utility metrics in a similar manner, simply by optimizing the parameters of the two-fold distribution. Specifically, we define a universal framework, namely, randomizing the randomization mechanism of differential privacy (R$^2$DP), and we formally analyze its privacy and utility. Our experiments show that R$^2$DP can provide better results than the baseline distribution (Laplace) for several utility metrics with no known optimal distributions, whereas our results asymptotically approach to the optimality for utility metrics having known optimal distributions. As a side benefit, the added degree of freedom introduced by the two-fold distribution allows R$^2$DP to accommodate the preferences of both data owners and recipients.
Recent Progress on Matrix Rigidity -- A Survey
Venue: arXiv cs.CC 2020
Year: 2020

The concept of matrix rigidity was introduced by Valiant(independently by Grigoriev) in the context of computing linear transformations. A matrix is rigid if it is far(in terms of Hamming distance) from any matrix of low rank. Although we know rigid matrices exist, obtaining explicit constructions of rigid matrices have remained a long-standing open question. This decade has seen tremendous progress towards understanding matrix rigidity. In the past, several matrices such as Hadamard matrices and Fourier matrices were conjectured to be rigid. Very recently, many of these matrices were shown to have low rigidity. Further, several explicit constructions of rigid matrices in classes such as $E$ and $P^{NP}$ were obtained recently. Among other things, matrix rigidity has found striking connections to areas as disparate as communication complexity, data structure lower bounds and error-correcting codes. In this survey, we present a selected set of results that highlight recent progress on matrix rigidity and its remarkable connections to other areas in theoretical computer science.
Consistency, Acyclicity, and Positive Semirings
Venue: arXiv cs.DB 2020
Year: 2020

In several different settings, one comes across situations in which the objects of study are locally consistent but globally inconsistent. Earlier work about probability distributions by Vorob'ev (1962) and about database relations by Beeri, Fagin, Maier, Yannakakis (1983) produced characterizations of when local consistency always implies global consistency. Towards a common generalization of these results, we consider K-relations, that is, relations over a set of attributes such that each tuple in the relation is associated with an element from an arbitrary, but fixed, positive semiring K. We introduce the notions of projection of a K-relation, consistency of two K-relations, and global consistency of a collection of K-relations; these notions are natural extensions of the corresponding notions about probability distributions and database relations. We then show that a collection of sets of attributes has the property that every pairwise consistent collection of K-relations over those attributes is globally consistent if and only if the sets of attributes form an acyclic hypergraph. This generalizes the aforementioned results by Vorob'ev and by Beeri et al., and demonstrates that K-relations over positive semirings constitute a natural framework for the study of the interplay between local and global consistency. In the course of the proof, we introduce a notion of join of two K-relations and argue that it is the "right" generalization of the join of two database relations. Furthermore, to show that non-acyclic hypergraphs yield pairwise consistent K-relations that are globally inconsistent, we generalize a construction by Tseitin (1968) in his study of hard-to-prove tautologies in propositional logic.
3D Primitives Gpgpu Generation for Volume Visualization in 3D Graphics Systems
Venue: arXiv cs.GR 2020
Year: 2020

This article discusses the study of 3D graphic volume primitive computer system generation (3D segments) based on General Purpose Graphics Processing Unit (GPGPU) technology for 3D volume visualization systems. It is based on the general method of Volume 3D primitive generation and an algorithm for the voxelization of 3D lines, previously proposed and studied by the authors. We considered the Compute Unified Device Architect (CUDA) implementation of a parametric method for generating 3D line segments and characteristics of generation on modern Graphics Processing Units. Experiments on the test bench showed the relative inefficiency of generating a single 3D line segment and the efficiency of generating both fixed and arbitrary length of 3D segments on a Graphics Processing Unit (GPU). Experimental studies have proven the effectiveness and the quality of produced solutions by our method, when compared to existing state-of-the-art approaches.
3D Pseudo Stereo Visualization with Gpgpu Support
Venue: arXiv cs.GR 2020
Year: 2020

This article discusses the study of a computer system for creating 3D pseudo-stereo images and videos using hardware and software support for accelerating a synthesis process based on General Purpose Graphics Processing Unit (GPGPU) technology. Based on the general strategy of 3D pseudo-stereo synthesis previously proposed by the authors, Compute Unified Device Architect (CUDA) method considers the main implementation stages of 3D pseudo-stereo synthesis: (i) the practical implementation study; (ii) the synthesis characteristics for obtaining images; (iii) the video in Ultra-High Definition (UHD) 4K resolution using the Graphics Processing Unit (GPU). Respectively with these results of 4K content test on evaluation systems with a GPU the acceleration average of 60.6 and 6.9 times is obtained for images and videos. The research results show consistency with previously identified forecasts for processing 4K image frames. They are confirming the possibility of synthesizing 3D pseudo-stereo algorithms in real time using powerful support for modern Graphics Processing Unit/Graphics Processing Clusters (GPU/GPC).
Multi-Robot Target Search using Probabilistic Consensus on Discrete Markov Chains
Venue: arXiv cs.RO 2020
Year: 2020

In this paper, we propose a probabilistic consensus-based multi-robot search strategy that is robust to communication link failures, and thus is suitable for disaster affected areas. The robots, capable of only local communication, explore a bounded environment according to a random walk modeled by a discrete-time discrete-state (DTDS) Markov chain and exchange information with neighboring robots, resulting in a time-varying communication network topology. The proposed strategy is proved to achieve consensus, here defined as agreement on the presence of a static target, with no assumptions on the connectivity of the communication network. Using numerical simulations, we investigate the effect of the robot population size, domain size, and information uncertainty on the consensus time statistics under this scheme. We also validate our theoretical results with 3D physics-based simulations in Gazebo. The simulations demonstrate that all robots achieve consensus in finite time with the proposed search strategy over a range of robot densities in the environment.
A Novel Transferability Attention Neural Network Model for EEG Emotion Recognition
Venue: arXiv cs.CV 2020
Year: 2020

The existed methods for electroencephalograph (EEG) emotion recognition always train the models based on all the EEG samples indistinguishably. However, some of the source (training) samples may lead to a negative influence because they are significant dissimilar with the target (test) samples. So it is necessary to give more attention to the EEG samples with strong transferability rather than forcefully training a classification model by all the samples. Furthermore, for an EEG sample, from the aspect of neuroscience, not all the brain regions of an EEG sample contains emotional information that can transferred to the test data effectively. Even some brain region data will make strong negative effect for learning the emotional classification model. Considering these two issues, in this paper, we propose a transferable attention neural network (TANN) for EEG emotion recognition, which learns the emotional discriminative information by highlighting the transferable EEG brain regions data and samples adaptively through local and global attention mechanism. This can be implemented by measuring the outputs of multiple brain-region-level discriminators and one single sample-level discriminator. We conduct the extensive experiments on three public EEG emotional datasets. The results validate that the proposed model achieves the state-of-the-art performance.
RL STaR Platform: Reinforcement Learning for Simulation based Training of Robots
Venue: arXiv cs.LG 2020
Year: 2020

Reinforcement learning (RL) is a promising field to enhance robotic autonomy and decision making capabilities for space robotics, something which is challenging with traditional techniques due to stochasticity and uncertainty within the environment. RL can be used to enable lunar cave exploration with infrequent human feedback, faster and safer lunar surface locomotion or the coordination and collaboration of multi-robot systems. However, there are many hurdles making research challenging for space robotic applications using RL and machine learning, particularly due to insufficient resources for traditional robotics simulators like CoppeliaSim. Our solution to this is an open source modular platform called Reinforcement Learning for Simulation based Training of Robots, or RL STaR, that helps to simplify and accelerate the application of RL to the space robotics research field. This paper introduces the RL STaR platform, and how researchers can use it through a demonstration.
On Distributed Differential Privacy and Counting Distinct Elements
Venue: arXiv cs.CR 2020
Year: 2020

We study the setup where each of $n$ users holds an element from a discrete set, and the goal is to count the number of distinct elements across all users, under the constraint of $(ε, δ)$-differentially privacy: - In the non-interactive local setting, we prove that the additive error of any protocol is $Ω(n)$ for any constant $ε$ and for any $δ$ inverse polynomial in $n$. - In the single-message shuffle setting, we prove a lower bound of $Ω(n)$ on the error for any constant $ε$ and for some $δ$ inverse quasi-polynomial in $n$. We do so by building on the moment-matching method from the literature on distribution estimation. - In the multi-message shuffle setting, we give a protocol with at most one message per user in expectation and with an error of $\tilde{O}(\sqrt(n))$ for any constant $ε$ and for any $δ$ inverse polynomial in $n$. Our protocol is also robustly shuffle private, and our error of $\sqrt(n)$ matches a known lower bound for such protocols. Our proof technique relies on a new notion, that we call dominated protocols, and which can also be used to obtain the first non-trivial lower bounds against multi-message shuffle protocols for the well-studied problems of selection and learning parity. Our first lower bound for estimating the number of distinct elements provides the first $ω(\sqrt(n))$ separation between global sensitivity and error in local differential privacy, thus answering an open question of Vadhan (2017). We also provide a simple construction that gives $\tildeΩ(n)$ separation between global sensitivity and error in two-party differential privacy, thereby answering an open question of McGregor et al. (2011).
3D-FUTURE: 3D Furniture shape with TextURE
Venue: arXiv cs.CV 2020
Year: 2020

The 3D CAD shapes in current 3D benchmarks are mostly collected from online model repositories. Thus, they typically have insufficient geometric details and less informative textures, making them less attractive for comprehensive and subtle research in areas such as high-quality 3D mesh and texture recovery. This paper presents 3D Furniture shape with TextURE (3D-FUTURE): a richly-annotated and large-scale repository of 3D furniture shapes in the household scenario. At the time of this technical report, 3D-FUTURE contains 20,240 clean and realistic synthetic images of 5,000 different rooms. There are 9,992 unique detailed 3D instances of furniture with high-resolution textures. Experienced designers developed the room scenes, and the 3D CAD shapes in the scene are used for industrial production. Given the well-organized 3D-FUTURE, we provide baseline experiments on several widely studied tasks, such as joint 2D instance segmentation and 3D object pose estimation, image-based 3D shape retrieval, 3D object reconstruction from a single image, and texture recovery for 3D shapes, to facilitate related future researches on our database.