OpenRaiser/Intern-Atlas huggingface dataset:
Formation-based Selection of Drone Swarm Services
Venue: arXiv cs.RO 2020
Year: 2020

Swarm of drones are increasingly being asked to carry out missions that can't be completed by one drone. Particularly, in delivery, issues arise due to the swarm's limited flight endurance. Hence, we propose a novel formation-guided framework for selecting Swarm-based Drone-as-a-Service (SDaaS) for delivery. A detailed study is carried out to highlight the effect of swarm formations on energy consumption. Two SDaaS selection approaches, i.e. Fixed and Adaptive, are designed considering the different formation decisions a swarm can take. The proposed framework considers extrinsic constraints including wind speed and direction. We propose SDaaS selection algorithms for each approach. Experimental results prove the efficiency of the proposed algorithms.
Lightweight Single-Image Super-Resolution Network with Attentive Auxiliary Feature Learning
Venue: arXiv cs.CV 2020
Year: 2020

Despite convolutional network-based methods have boosted the performance of single image super-resolution (SISR), the huge computation costs restrict their practical applicability. In this paper, we develop a computation efficient yet accurate network based on the proposed attentive auxiliary features (A$^2$F) for SISR. Firstly, to explore the features from the bottom layers, the auxiliary feature from all the previous layers are projected into a common space. Then, to better utilize these projected auxiliary features and filter the redundant information, the channel attention is employed to select the most important common feature based on current layer feature. We incorporate these two modules into a block and implement it with a lightweight network. Experimental results on large-scale dataset demonstrate the effectiveness of the proposed model against the state-of-the-art (SOTA) SR methods. Notably, when parameters are less than 320k, A$^2$F outperforms SOTA methods for all scales, which proves its ability to better utilize the auxiliary features. Codes are available at https://github.com/wxxxxxxh/A2F-SR.
ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning
Venue: arXiv cs.LG 2020
Year: 2020

Current image-based reinforcement learning (RL) algorithms typically operate on the whole image without performing object-level reasoning. This leads to inefficient goal sampling and ineffective reward functions. In this paper, we improve upon previous visual self-supervised RL by incorporating object-level reasoning and occlusion reasoning. Specifically, we use unknown object segmentation to ignore distractors in the scene for better reward computation and goal generation; we further enable occlusion reasoning by employing a novel auxiliary loss and training scheme. We demonstrate that our proposed algorithm, ROLL (Reinforcement learning with Object Level Learning), learns dramatically faster and achieves better final performance compared with previous methods in several simulated visual control tasks. Project video and code are available at https://sites.google.com/andrew.cmu.edu/roll.
Federated Learning System without Model Sharing through Integration of Dimensional Reduced Data Representations
Venue: arXiv cs.LG 2020
Year: 2020

Dimensionality Reduction is a commonly used element in a machine learning pipeline that helps to extract important features from high-dimensional data. In this work, we explore an alternative federated learning system that enables integration of dimensionality reduced representations of distributed data prior to a supervised learning task, thus avoiding model sharing among the parties. We compare the performance of this approach on image classification tasks to three alternative frameworks: centralized machine learning, individual machine learning, and Federated Averaging, and analyze potential use cases for a federated learning system without model sharing. Our results show that our approach can achieve similar accuracy as Federated Averaging and performs better than Federated Averaging in a small-user setting.
Consistent k-Clustering for General Metrics
Venue: arXiv cs.DS 2020
Year: 2020

Given a stream of points in a metric space, is it possible to maintain a constant approximate clustering by changing the cluster centers only a small number of times during the entire execution of the algorithm? This question received attention in recent years in the machine learning literature and, before our work, the best known algorithm performs $\widetilde{O}(k^2)$ center swaps (the $\widetilde{O}(\cdot)$ notation hides polylogarithmic factors in the number of points $n$ and the aspect ratio $Δ$ of the input instance). This is a quadratic increase compared to the offline case -- the whole stream is known in advance and one is interested in keeping a constant approximation at any point in time -- for which $\widetilde{O}(k)$ swaps are known to be sufficient and simple examples show that $Ω(k \log(n Δ))$ swaps are necessary. We close this gap by developing an algorithm that, perhaps surprisingly, matches the guarantees in the offline setting. Specifically, we show how to maintain a constant-factor approximation for the $k$-median problem by performing an optimal (up to polylogarithimic factors) number $\widetilde{O}(k)$ of center swaps. To obtain our result we leverage new structural properties of $k$-median clustering that may be of independent interest.
Detection of Spatially Modulated Signals via RLS: Theoretical Bounds and Applications
Venue: arXiv cs.IT 2020
Year: 2020

This paper characterizes the performance of massive multiuser spatial modulation MIMO systems, when a regularized form of the least-squares method is used for detection. For a generic distortion function and right unitarily invariant channel matrices, the per-antenna transmit rate and the asymptotic distortion achieved by this class of detectors is derived. Invoking an asymptotic characterization, we address two particular applications. Namely, we derive the error rate achieved by the computationally-intractable optimal Bayesian detector, and we propose an efficient approach to tune a LASSO-type detector. We further validate our derivations through various numerical experiments.
Morshed: Guiding Behavioral Decision-Makers towards Better Security Investment in Interdependent Systems
Venue: arXiv cs.CR 2020
Year: 2020

We model the behavioral biases of human decision-making in securing interdependent systems and show that such behavioral decision-making leads to a suboptimal pattern of resource allocation compared to non-behavioral (rational) decision-making. We provide empirical evidence for the existence of such behavioral bias model through a controlled subject study with 145 participants. We then propose three learning techniques for enhancing decision-making in multi-round setups. We illustrate the benefits of our decision-making model through multiple interdependent real-world systems and quantify the level of gain compared to the case in which the defenders are behavioral. We also show the benefit of our learning techniques against different attack models. We identify the effects of different system parameters on the degree of suboptimality of security outcomes due to behavioral decision-making.
SALAD: Self-Assessment Learning for Action Detection
Venue: arXiv cs.LG 2020
Year: 2020

Literature on self-assessment in machine learning mainly focuses on the production of well-calibrated algorithms through consensus frameworks i.e. calibration is seen as a problem. Yet, we observe that learning to be properly confident could behave like a powerful regularization and thus, could be an opportunity to improve performance.Precisely, we show that used within a framework of action detection, the learning of a self-assessment score is able to improve the whole action localization process.Experimental results show that our approach outperforms the state-of-the-art on two action detection benchmarks. On THUMOS14 dataset, the mAP at tIoU@0.5 is improved from 42.8\% to 44.6\%, and from 50.4\% to 51.7\% on ActivityNet1.3 dataset. For lower tIoU values, we achieve even more significant improvements on both datasets.
Arabic Dialect Identification Using BERT-Based Domain Adaptation
Venue: arXiv cs.CL 2020
Year: 2020

Arabic is one of the most important and growing languages in the world. With the rise of social media platforms such as Twitter, Arabic spoken dialects have become more in use. In this paper, we describe our approach on the NADI Shared Task 1 that requires us to build a system to differentiate between different 21 Arabic dialects, we introduce a deep learning semi-supervised fashion approach along with pre-processing that was reported on NADI shared Task 1 Corpus. Our system ranks 4th in NADI's shared task competition achieving a 23.09% F1 macro average score with a simple yet efficient approach to differentiating between 21 Arabic Dialects given tweets.
Algebraic Quantum Codes: Linking Quantum Mechanics and Discrete Mathematics
Venue: arXiv cs.IT 2020
Year: 2020

We present a general framework of quantum error-correcting codes (QECCs) as a subspace of a complex Hilbert space and the corresponding error models. Then we illustrate how QECCs can be constructed using techniques from algebraic coding theory. Additionally, we discuss secondary constructions for QECCs, leading to propagation rules for the parameters of QECCs.
Continual Learning with Deep Artificial Neurons
Venue: arXiv cs.AI 2020
Year: 2020

Neurons in real brains are enormously complex computational units. Among other things, they're responsible for transforming inbound electro-chemical vectors into outbound action potentials, updating the strengths of intermediate synapses, regulating their own internal states, and modulating the behavior of other nearby neurons. One could argue that these cells are the only things exhibiting any semblance of real intelligence. It is odd, therefore, that the machine learning community has, for so long, relied upon the assumption that this complexity can be reduced to a simple sum and fire operation. We ask, might there be some benefit to substantially increasing the computational power of individual neurons in artificial systems? To answer this question, we introduce Deep Artificial Neurons (DANs), which are themselves realized as deep neural networks. Conceptually, we embed DANs inside each node of a traditional neural network, and we connect these neurons at multiple synaptic sites, thereby vectorizing the connections between pairs of cells. We demonstrate that it is possible to meta-learn a single parameter vector, which we dub a neuronal phenotype, shared by all DANs in the network, which facilitates a meta-objective during deployment. Here, we isolate continual learning as our meta-objective, and we show that a suitable neuronal phenotype can endow a single network with an innate ability to update its synapses with minimal forgetting, using standard backpropagation, without experience replay, nor separate wake/sleep phases. We demonstrate this ability on sequential non-linear regression tasks.
Efficient Data Association and Uncertainty Quantification for Multi-Object Tracking
Venue: arXiv cs.LG 2020
Year: 2020

Robust data association is critical for analysis of long-term motion trajectories in complex scenes. In its absence, trajectory precision suffers due to periods of kinematic ambiguity degrading the quality of follow-on analysis. Common optimization-based approaches often neglect uncertainty quantification arising from these events. Consequently, we propose the Joint Posterior Tracker (JPT), a Bayesian multi-object tracking algorithm that robustly reasons over the posterior of associations and trajectories. Novel, permutation-based proposals are crafted for exploration of posterior modes that correspond to plausible association hypotheses. JPT exhibits more accurate uncertainty representation of data associations with superior performance on standard metrics when compared to existing baselines. We also show the utility of JPT applied to automatic scheduling of user-in-the-loop annotations for improved trajectory quality.
A universal predictor-corrector type incremental algorithm for the construction of weighted straight skeletons based on the notion of deforming polygon
Venue: arXiv cs.CG 2020
Year: 2020

A new predictor-corrector type incremental algorithm is proposed for the exact construction of weighted straight skeletons of 2D general planar polygons of arbitrary complexity based on the notion of deforming polygon. In the proposed algorithm, the raw input provided by the polygon itself is enough to resolve edge collapse and edge split events. Neither the construction of a kinetic triangulation nor the computation of a motorcycle graph is required. Due to its incremental nature, there is always a room in the algorithm for the interactive construction of the straight skeleton. The proposed algorithm is of predictor-corrector type. In the algorithm, the edge collapse and edge split events are tackled by a completely different novel original approach which is first of its kind. In the predictor step, the position of the vertices is advanced in time by direct integration assuming no event. Then predicted positions are corrected by using linear interpolation if there are edge collapse or edge split events within the same increment. In the algorithm edge collapse and edge split events are detected by, respectively, edge swap and edge penetration. The proposed algorithm has been used to construct roof topology starting from a floor plan of various complexity ranging from simple convex to highly nonconvex with holes. In order to construct, improve and test the building blocks of the underlying algorithm, a graphical user interface, Straight Skeleton Development Kit, has also been developed in parallel by the author using C++ programming language.
Deep Multi-view Image Fusion for Soybean Yield Estimation in Breeding Applications Deep Multi-view Image Fusion for Soybean Yield Estimation in Breeding Applications
Venue: arXiv cs.CV 2020
Year: 2020

Reliable seed yield estimation is an indispensable step in plant breeding programs geared towards cultivar development in major row crops. The objective of this study is to develop a machine learning (ML) approach adept at soybean [\textit{Glycine max} L. (Merr.)] pod counting to enable genotype seed yield rank prediction from in-field video data collected by a ground robot. To meet this goal, we developed a multi-view image-based yield estimation framework utilizing deep learning architectures. Plant images captured from different angles were fused to estimate the yield and subsequently to rank soybean genotypes for application in breeding decisions. We used data from controlled imaging environment in field, as well as from plant breeding test plots in field to demonstrate the efficacy of our framework via comparing performance with manual pod counting and yield estimation. Our results demonstrate the promise of ML models in making breeding decisions with significant reduction of time and human effort, and opening new breeding methods avenues to develop cultivars.
On the Benefits of Early Fusion in Multimodal Representation Learning
Venue: arXiv cs.LG 2020
Year: 2020

Intelligently reasoning about the world often requires integrating data from multiple modalities, as any individual modality may contain unreliable or incomplete information. Prior work in multimodal learning fuses input modalities only after significant independent processing. On the other hand, the brain performs multimodal processing almost immediately. This divide between conventional multimodal learning and neuroscience suggests that a detailed study of early multimodal fusion could improve artificial multimodal representations. To facilitate the study of early multimodal fusion, we create a convolutional LSTM network architecture that simultaneously processes both audio and visual inputs, and allows us to select the layer at which audio and visual information combines. Our results demonstrate that immediate fusion of audio and visual inputs in the initial C-LSTM layer results in higher performing networks that are more robust to the addition of white noise in both audio and visual inputs.
Nonuniform Quantized Decoder for Polar Codes with Minimum Distortion Quantizer
Venue: arXiv cs.IT 2020
Year: 2020

We propose a nonuniform quantized decoder for polar codes. The design metric of the quantizers is to minimize the distortion incurred by quantization. The quantizers are obtained via dynamic programming and the optimality of the quantizer is proved as well. Simulation results show that the error correction performance degradation of the proposed nonuniform quantized decoder is less than 0.1 dB compared to conventional float-point decoders under 5-bit nonuniform quantization, outperforming previous uniform quantized decoders for polar codes significantly.
Providing More Efficient Access To Government Records: A Use Case Involving Application of Machine Learning to Improve FOIA Review for the Deliberative Process Privilege
Venue: arXiv cs.IR 2020
Year: 2020

At present, the review process for material that is exempt from disclosure under the Freedom of Information Act (FOIA) in the United States of America, and under many similar government transparency regimes worldwide, is entirely manual. Public access to the records of their government is thus inhibited by the long backlogs of material awaiting such reviews. This paper studies one aspect of that problem by first creating a new public test collection with annotations for one class of exempt material, the deliberative process privilege, and then by using that test collection to study the ability of current text classification techniques to identify those materials that are exempt from release under that privilege. Results show that when the system is trained and evaluated using annotations from the same reviewer that even difficult cases can often be reliably detected, but that differences in reviewer interpretations, differences in record custodians, and that differences in topics of the records used for training and testing pose additional challenges.
CatFedAvg: Optimising Communication-efficiency and Classification Accuracy in Federated Learning
Venue: arXiv cs.LG 2020
Year: 2020

Federated learning has allowed the training of statistical models over remote devices without the transfer of raw client data. In practice, training in heterogeneous and large networks introduce novel challenges in various aspects like network load, quality of client data, security and privacy. Recent works in FL have worked on improving communication efficiency and addressing uneven client data distribution independently, but none have provided a unified solution for both challenges. We introduce a new family of Federated Learning algorithms called CatFedAvg which not only improves the communication efficiency but improves the quality of learning using a category coverage maximization strategy. We use the FedAvg framework and introduce a simple and efficient step every epoch to collect meta-data about the client's training data structure which the central server uses to request a subset of weight updates. We explore two distinct variations which allow us to further explore the tradeoffs between communication efficiency and model accuracy. Our experiments based on a vision classification task have shown that an increase of 10% absolute points in accuracy using the MNIST dataset with 70% absolute points lower network transfer over FedAvg. We also run similar experiments with Fashion MNIST, KMNIST-10, KMNIST-49 and EMNIST-47. Further, under extreme data imbalance experiments for both globally and individual clients, we see the model performing better than FedAvg. The ablation study further explores its behaviour under varying data and client parameter conditions showcasing the robustness of the proposed approach.
DebateSum: A large-scale argument mining and summarization dataset
Venue: arXiv cs.CL 2020
Year: 2020

Prior work in Argument Mining frequently alludes to its potential applications in automatic debating systems. Despite this focus, almost no datasets or models exist which apply natural language processing techniques to problems found within competitive formal debate. To remedy this, we present the DebateSum dataset. DebateSum consists of 187,386 unique pieces of evidence with corresponding argument and extractive summaries. DebateSum was made using data compiled by competitors within the National Speech and Debate Association over a 7-year period. We train several transformer summarization models to benchmark summarization performance on DebateSum. We also introduce a set of fasttext word-vectors trained on DebateSum called debate2vec. Finally, we present a search engine for this dataset which is utilized extensively by members of the National Speech and Debate Association today. The DebateSum search engine is available to the public here: http://www.debate.cards
Classification based on invisible features and thereby finding the effect of tuberculosis vaccine on COVID-19
Venue: arXiv cs.LG 2020
Year: 2020

In the case of clustered data, an artificial neural network with logcosh loss function learns the bigger cluster rather than the mean of the two. Even more so, the ANN when used for regression of a set-valued function, will learn a value close to one of the choices, in other words, it learns one branch of the set-valued function with high accuracy. This work suggests a method that uses artificial neural networks with logcosh loss to find the branches of set-valued mappings in parameter-outcome sample sets and classifies the samples according to those branches. The method not only classifies the data based on these branches but also provides an accurate prediction for the majority cluster. The method successfully classifies the data based on an invisible feature. A neural network was successfully established to predict the total number of cases, the logarithmic total number of cases, deaths, active cases and other relevant data of the coronavirus for each German district from a number of input variables. As it has been speculated that the Tuberculosis vaccine provides protection against the virus and since East Germany was vaccinated before reunification, an attempt was made to classify the Eastern and Western German districts by considering the vaccine information as an invisible feature.
Designing Human-Robot Coexistence Space
Venue: arXiv cs.RO 2020
Year: 2020

When the human-robot interactions become ubiquitous, the environment surrounding these interactions will have significant impact on the safety and comfort of the human and the effectiveness and efficiency of the robot. Although most robots are designed to work in the spaces created for humans, many environments, such as living rooms and offices, can be and should be redesigned to enhance and improve human-robot collaboration and interactions. This work uses autonomous wheelchair as an example and investigates the computational design in the human-robot coexistence spaces. Given the room size and the objects $O$ in the room, the proposed framework computes the optimal layouts of $O$ that satisfy both human preferences and navigation constraints of the wheelchair. The key enabling technique is a motion planner that can efficiently evaluate hundreds of similar motion planning problems. Our implementation shows that the proposed framework can produce a design around three to five minutes on average comparing to 10 to 20 minutes without the proposed motion planner. Our results also show that the proposed method produces reasonable designs even for tight spaces and for users with different preferences.