OpenRaiser/Intern-Atlas huggingface dataset:
Common Throughput Maximization for UAV-Enabled Interference Channel with Wireless Powered Communications
Venue: arXiv cs.IT 2019
Year: 2019

This paper studies an unmanned aerial vehicle (UAV)-enabled two-user interference channel for wireless powered communication networks (WPCNs), in which two UAVs wirelessly charge two low-power Internet-of-things (IoT)-devices on the ground and collect information from them. We consider two scenarios when both UAVs cooperate in energy transmission and/or information reception via interference coordination and coordinated multi-point (CoMP), respectively. For both scenarios, the UAVs' controllable mobility is exploited via trajectory design to not only enhance the wireless power transfer (WPT) efficiency in the downlink, but also mitigate the co-channel interference for wireless information transfer (WIT) in the uplink. In particular, the objective is to maximize the uplink common (minimum) throughput of the two IoT-devices over a finite UAV mission period, by jointly optimizing the trajectories of both UAVs and the downlink/uplink wireless resource allocation, subject to the maximum flying speed and collision avoidance constraints at UAVs, as well as the individual energy neutrality constraints at IoT-devices. Under both scenarios of interference coordination and CoMP, we first obtain the optimal solutions to the two common-rate maximization problems in well structures for the special case with sufficiently long UAV mission duration. Next, we obtain high-quality solutions for the practical case with finite UAV mission duration by using the alternating optimization and successive convex approximation (SCA).
Sentiment Analysis from Images of Natural Disasters
Venue: arXiv cs.CV 2019
Year: 2019

Social media have been widely exploited to detect and gather relevant information about opinions and events. However, the relevance of the information is very subjective and rather depends on the application and the end-users. In this article, we tackle a specific facet of social media data processing, namely the sentiment analysis of disaster-related images by considering people's opinions, attitudes, feelings and emotions. We analyze how visual sentiment analysis can improve the results for the end-users/beneficiaries in terms of mining information from social media. We also identify the challenges and related applications, which could help defining a benchmark for future research efforts in visual sentiment analysis.
Model-free prediction of spatiotemporal dynamical systems with recurrent neural networks: Role of network spectral radius
Venue: arXiv cs.LG 2019
Year: 2019

A common difficulty in applications of machine learning is the lack of any general principle for guiding the choices of key parameters of the underlying neural network. Focusing on a class of recurrent neural networks - reservoir computing systems that have recently been exploited for model-free prediction of nonlinear dynamical systems, we uncover a surprising phenomenon: the emergence of an interval in the spectral radius of the neural network in which the prediction error is minimized. In a three-dimensional representation of the error versus time and spectral radius, the interval corresponds to the bottom region of a "valley." Such a valley arises for a variety of spatiotemporal dynamical systems described by nonlinear partial differential equations, regardless of the structure and the edge-weight distribution of the underlying reservoir network. We also find that, while the particular location and size of the valley would depend on the details of the target system to be predicted, the interval tends to be larger for undirected than for directed networks. The valley phenomenon can be beneficial to the design of optimal reservoir computing, representing a small step forward in understanding these machine-learning systems.
Still no free lunches: the price to pay for tighter PAC-Bayes bounds
Venue: arXiv cs.LG 2019
Year: 2019

"No free lunch" results state the impossibility of obtaining meaningful bounds on the error of a learning algorithm without prior assumptions and modelling. Some models are expensive (strong assumptions, such as as subgaussian tails), others are cheap (simply finite variance). As it is well known, the more you pay, the more you get: in other words, the most expensive models yield the more interesting bounds. Recent advances in robust statistics have investigated procedures to obtain tight bounds while keeping the cost minimal. The present paper explores and exhibits what the limits are for obtaining tight PAC-Bayes bounds in a robust setting for cheap models, addressing the question: is PAC-Bayes good value for money?
BigDataSDNSim: A Simulator for Analyzing Big Data Applications in Software-Defined Cloud Data Centers
Venue: arXiv cs.DC 2019
Year: 2019

Emerging paradigms of big data and Software-Defined Networking (SDN) in cloud data centers have gained significant attention from industry and academia. The integration and coordination of big data and SDN are required to improve the application and network performance of big data applications. While empirical evaluation and analysis of big data and SDN can be one way of observing proposed solutions, it is often impractical or difficult to apply for several reasons, such as expensive undertakings, time consuming, and complexity; in addition, it is beyond the reach of most individuals. Thus, simulation tools are preferable options for performing costeffective, scalable experimentation in a controllable, repeatable, and configurable manner. To fill this gap, we present a new, self-contained simulation tool named BigDataSDNSim that enables the modeling and simulating of big data management systems (YARN), big data programming models (MapReduce), and SDN-enabled networks within cloud computing environments. To demonstrate the efficacy, effectiveness, and features of BigDataSDNSim, a use-case that compares SDN-enabled networks with legacy networks in terms of the performance and energy consumption is presented.
SPH modelling of hydrodynamic lubrication: laminar fluid flow-structure interaction with no-slip conditions for slider bearings
Venue: arXiv cs.CE 2019
Year: 2019

The FOSS CFD-SPH code SPHERA v.9.0.0 (RSE SpA) is empowered to deal with fluid-solid body interactions under no-slip conditions and laminar regimes for the simulation of hydrodynamic lubrication. The code is herein validated in relation to a uniform slider bearing (i.e., for a constant lubricant film depth) and a linear slider bearing (i.e., for a film depth with a linear profile variation along the main flow direction). Validations refer to comparisons with analytical solutions, herein generalized to consider any Dirichlet boundary condition. Further, this study allows a first code validation of the fluid-fixed frontier interactions under no-slip conditions. With respect to the most state-of-the-art models (2D codes based on Reynolds' equation for fluid films), the following distinctive features are highlighted: (i) 3D formulation on all the terms of the Navier-Stokes equations for incompressible fluids with uniform viscosity; (ii) validations on both local and global quantities (pressure and velocity profiles; load-bearing capacity); (iii) possibility to simulate any 3D topology. This study also shows the advantages of using a CFD-SPH code in simulating the inertia and 3D effects close to the slider edges, and it opens new research directions overcoming the limitations of the codes for hydrodynamic lubrication based on the Reynolds' equation for fluid films. This study finally allows SPHERA to deal with hydrodynamic lubrication and empowers the code for other relevant application fields involving fluid-structure interactions (e.g., transport of solid bodies by floods and earth landslides; rock landslides). SPHERA is developed and distributed on a GitHub public repository.
Recycled ADMM: Improving the Privacy and Accuracy of Distributed Algorithms
Venue: arXiv cs.LG 2019
Year: 2019

Alternating direction method of multiplier (ADMM) is a powerful method to solve decentralized convex optimization problems. In distributed settings, each node performs computation with its local data and the local results are exchanged among neighboring nodes in an iterative fashion. During this iterative process the leakage of data privacy arises and can accumulate significantly over many iterations, making it difficult to balance the privacy-accuracy tradeoff. We propose Recycled ADMM (R-ADMM), where a linear approximation is applied to every even iteration, its solution directly calculated using only results from the previous, odd iteration. It turns out that under such a scheme, half of the updates incur no privacy loss and require much less computation compared to the conventional ADMM. Moreover, R-ADMM can be further modified (MR-ADMM) such that each node independently determines its own penalty parameter over iterations. We obtain a sufficient condition for the convergence of both algorithms and provide the privacy analysis based on objective perturbation. It can be shown that the privacy-accuracy tradeoff can be improved significantly compared with conventional ADMM.
AlignNet-3D: Fast Point Cloud Registration of Partially Observed Objects
Venue: arXiv cs.CV 2019
Year: 2019

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose) estimation is often only coarsely estimated by approximating targets with centroids or (3D) bounding boxes. However, in automotive scenarios, motion perception of surrounding agents is critical and inaccuracies in the vehicle close-range can have catastrophic consequences. In this work, we focus on precise 3D track state estimation and propose a learning-based approach for object-centric relative motion estimation of partially observed objects. Instead of approximating targets with their centroids, our approach is capable of utilizing noisy 3D point segments of objects to estimate their motion. To that end, we propose a simple, yet effective and efficient network, \method, that learns to align point clouds. Our evaluation on two different datasets demonstrates that our method outperforms computationally expensive, global 3D registration methods while being significantly more efficient. We make our data, code, and models available at https://www.vision.rwth-aachen.de/page/alignnet.
Panoptic-DeepLab
Venue: arXiv cs.CV 2019
Year: 2019

We present Panoptic-DeepLab, a bottom-up and single-shot approach for panoptic segmentation. Our Panoptic-DeepLab is conceptually simple and delivers state-of-the-art results. In particular, we adopt the dual-ASPP and dual-decoder structures specific to semantic, and instance segmentation, respectively. The semantic segmentation branch is the same as the typical design of any semantic segmentation model (e.g., DeepLab), while the instance segmentation branch is class-agnostic, involving a simple instance center regression. Our single Panoptic-DeepLab sets the new state-of-art at all three Cityscapes benchmarks, reaching 84.2% mIoU, 39.0% AP, and 65.5% PQ on test set, and advances results on the other challenging Mapillary Vistas.
Would a File by Any Other Name Seem as Malicious?
Venue: arXiv cs.CR 2019
Year: 2019

Successful malware attacks on information technology systems can cause millions of dollars in damage, the exposure of sensitive and private information, and the irreversible destruction of data. Anti-virus systems that analyze a file's contents use a combination of static and dynamic analysis to detect and remove/remediate such malware. However, examining a file's entire contents is not always possible in practice, as the volume and velocity of incoming data may be too high, or access to the underlying file contents may be restricted or unavailable. If it were possible to obtain estimates of a file's relative likelihood of being malicious without looking at the file contents, we could better prioritize file processing order and aid analysts in situations where a file is unavailable. In this work, we demonstrate that file names can contain information predictive of the presence of malware in a file. In particular, we show the effectiveness of a character-level convolutional neural network at predicting malware status using file names on Endgame's EMBER malware detection benchmark dataset.
Measuring robustness of Visual SLAM
Venue: arXiv cs.CV 2019
Year: 2019

Simultaneous localization and mapping (SLAM) is an essential component of robotic systems. In this work we perform a feasibility study of RGB-D SLAM for the task of indoor robot navigation. Recent visual SLAM methods, e.g. ORBSLAM2 \cite{mur2017orb}, demonstrate really impressive accuracy, but the experiments in the papers are usually conducted on just a few sequences, that makes it difficult to reason about the robustness of the methods. Another problem is that all available RGB-D datasets contain the trajectories with very complex camera motions. In this work we extensively evaluate ORBSLAM2 to better understand the state-of-the-art. First, we conduct experiments on the popular publicly available datasets for RGB-D SLAM across the conventional metrics. We perform statistical analysis of the results and find correlations between the metrics and the attributes of the trajectories. Then, we introduce a new large and diverse HomeRobot dataset where we model the motions of a simple home robot. Our dataset is created using physically-based rendering with realistic lighting and contains the scenes composed by human designers. It includes thousands of sequences, that is two orders of magnitude greater than in previous works. We find that while in many cases the accuracy of SLAM is very good, the robustness is still an issue.
Inferring and Improving Street Maps with Data-Driven Automation
Venue: arXiv cs.CV 2019
Year: 2019

Street maps are a crucial data source that help to inform a wide range of decisions, from navigating a city to disaster relief and urban planning. However, in many parts of the world, street maps are incomplete or lag behind new construction. Editing maps today involves a tedious process of manually tracing and annotating roads, buildings, and other map features. Over the past decade, many automatic map inference systems have been proposed to automatically extract street map data from satellite imagery, aerial imagery, and GPS trajectory datasets. However, automatic map inference has failed to gain traction in practice due to two key limitations: high error rates (low precision), which manifest in noisy inference outputs, and a lack of end-to-end system design to leverage inferred data to update existing street maps. At MIT and QCRI, we have developed a number of algorithms and approaches to address these challenges, which we combined into a new system we call Mapster. Mapster is a human-in-the-loop street map editing system that incorporates three components to robustly accelerate the mapping process over traditional tools and workflows: high-precision automatic map inference, data refinement, and machine-assisted map editing. Through an evaluation on a large-scale dataset including satellite imagery, GPS trajectories, and ground-truth map data in forty cities, we show that Mapster makes automation practical for map editing, and enables the curation of map datasets that are more complete and up-to-date at less cost.
Road scenes analysis in adverse weather conditions by polarization-encoded images and adapted deep learning
Venue: arXiv cs.CV 2019
Year: 2019

Object detection in road scenes is necessary to develop both autonomous vehicles and driving assistance systems. Even if deep neural networks for recognition task have shown great performances using conventional images, they fail to detect objects in road scenes in complex acquisition situations. In contrast, polarization images, characterizing the light wave, can robustly describe important physical properties of the object even under poor illumination or strong reflections. This paper shows how non-conventional polarimetric imaging modality overcomes the classical methods for object detection especially in adverse weather conditions. The efficiency of the proposed method is mostly due to the high power of the polarimetry to discriminate any object by its reflective properties and on the use of deep neural networks for object detection. Our goal by this work, is to prove that polarimetry brings a real added value compared with RGB images for object detection. Experimental results on our own dataset composed of road scene images taken during adverse weather conditions show that polarimetry together with deep learning can improve the state-of-the-art by about 20% to 50% on different detection tasks.
FastEstimator: A Deep Learning Library for Fast Prototyping and Productization
Venue: arXiv cs.CV 2019
Year: 2019

As the complexity of state-of-the-art deep learning models increases by the month, implementation, interpretation, and traceability become ever-more-burdensome challenges for AI practitioners around the world. Several AI frameworks have risen in an effort to stem this tide, but the steady advance of the field has begun to test the bounds of their flexibility, expressiveness, and ease of use. To address these concerns, we introduce a radically flexible high-level open source deep learning framework for both research and industry. We introduce FastEstimator.
Bit Efficient Quantization for Deep Neural Networks
Venue: arXiv cs.CV 2019
Year: 2019

Quantization for deep neural networks have afforded models for edge devices that use less on-board memory and enable efficient low-power inference. In this paper, we present a comparison of model-parameter driven quantization approaches that can achieve as low as 3-bit precision without affecting accuracy. The post-training quantization approaches are data-free, and the resulting weight values are closely tied to the dataset distribution on which the model has converged to optimality. We show quantization results for a number of state-of-art deep neural networks (DNN) using large dataset like ImageNet. To better analyze quantization results, we describe the overall range and local sparsity of values afforded through various quantization schemes. We show the methods to lower bit-precision beyond quantization limits with object class clustering.
Preconditioned Multiple Orthogonal Least Squares and Applications in Ghost Imaging via Sparsity Constraint
Venue: arXiv cs.IT 2019
Year: 2019

Ghost imaging via sparsity constraint (GISC) can recover objects from the intensity fluctuation of light fields even when the sampling rate is far below the Nyquist sampling rate. In this paper, we develop an efficient algorithm called the preconditioned multiple orthogonal least squares (PmOLS) for solving the GISC reconstruction problem. Our analysis shows that the PmOLS algorithm perfectly recovers any $n$-dimensional $K$-sparse signal from $m$ random linear samples of the signal with probability exceeding $1-3n^2 e^{-cm/K^2}$. Simulations and experiments demonstrate that the proposed algorithm has very competitive imaging quality compared to the state-ofthe-art methods.
Blink: Fast and Generic Collectives for Distributed ML
Venue: arXiv cs.DC 2019
Year: 2019

Model parameter synchronization across GPUs introduces high overheads for data-parallel training at scale. Existing parameter synchronization protocols cannot effectively leverage available network resources in the face of ever increasing hardware heterogeneity. To address this, we propose Blink, a collective communication library that dynamically generates optimal communication primitives by packing spanning trees. We propose techniques to minimize the number of trees generated and extend Blink to leverage heterogeneous communication channels for faster data transfers. Evaluations show that compared to the state-of-the-art (NCCL), Blink can achieve up to 8x faster model synchronization, and reduce end-to-end training time for image classification tasks by up to 40%.
Point cloud ridge-valley feature enhancement based on position and normal guidance
Venue: arXiv cs.GR 2019
Year: 2019

Ridge-valley features are important elements of point clouds, as they contain rich surface information. To recognize these features from point clouds, this paper introduces an extreme point distance (EPD) criterion with scale independence. Compared with traditional methods, the EPD greatly reduces the number of potential feature points and improves the robustness of multiscale feature point recognition. On this basis, a feature enhancement algorithm based on user priori guidance is proposed that adjusts the coordinates of the feature area by solving an objective equation containing the expected position and normal constraints. Since the expected normal can be expressed as a function of neighborhood point coordinates, the above objective equation can be converted into linear sparse equations with enhanced feature positions as variables, and thus, the closed solution can be obtained. In addition, a parameterization method for scattered point clouds based on feature line guidance is proposed, which reduces the number of unknowns by 2/3 and eliminates lateral sliding in the direction perpendicular to feature lines. Finally, the application of the algorithm in multiscale ridge-valley feature recognition, freeform surface feature enhancement and computer-aided design (CAD) workpiece sharp feature restoration verifies its effectiveness.
An Automatic Digital Terrain Generation Technique for Terrestrial Sensing and Virtual Reality Applications
Venue: arXiv cs.CV 2019
Year: 2019

The identification and modeling of the terrain from point cloud data is an important component of Terrestrial Remote Sensing (TRS) applications. The main focus in terrain modeling is capturing details of complex geological features of landforms. Traditional terrain modeling approaches rely on the user to exert control over terrain features. However, relying on the user input to manually develop the digital terrain becomes intractable when considering the amount of data generated by new remote sensing systems capable of producing massive aerial and ground-based point clouds from scanned environments. This article provides a novel terrain modeling technique capable of automatically generating accurate and physically realistic Digital Terrain Models (DTM) from a variety of point cloud data. The proposed method runs efficiently on large-scale point cloud data with real-time performance over large segments of terrestrial landforms. Moreover, generated digital models are designed to effectively render within a Virtual Reality (VR) environment in real time. The paper concludes with an in-depth discussion of possible research directions and outstanding technical and scientific challenges to improve the proposed approach.