OpenRaiser/Intern-Atlas huggingface dataset:
Analysis of NARXNN for State of Charge Estimation for Li-ion Batteries on various Drive Cycles
Venue: arXiv cs.LG 2020
Year: 2020

Electric Vehicles (EVs) are rapidly increasing in popularity as they are environment friendly. Lithium Ion batteries are at the heart of EV technology and contribute to most of the weight and cost of an EV. State of Charge (SOC) is a very important metric which helps to predict the range of an EV. There is a need to accurately estimate available battery capacity in a battery pack such that the available range in a vehicle can be determined. There are various techniques available to estimate SOC. In this paper, a data driven approach is selected and a Nonlinear Autoregressive Network with Exogenous Inputs Neural Network (NARXNN) is explored to accurately estimate SOC. NARXNN has been shown to be superior to conventional Machine Learning techniques available in the literature. The NARXNN model is developed and tested on various EV Drive Cycles like LA92, US06, UDDS and HWFET to test its performance on real world scenarios. The model is shown to outperform conventional statistical machine learning methods and achieve a Mean Squared Error (MSE) in the 1e-5 range.
Political Posters Identification with Appearance-Text Fusion
Venue: arXiv cs.CV 2020
Year: 2020

In this paper, we propose a method that efficiently utilizes appearance features and text vectors to accurately classify political posters from other similar political images. The majority of this work focuses on political posters that are designed to serve as a promotion of a certain political event, and the automated identification of which can lead to the generation of detailed statistics and meets the judgment needs in a variety of areas. Starting with a comprehensive keyword list for politicians and political events, we curate for the first time an effective and practical political poster dataset containing 13K human-labeled political images, including 3K political posters that explicitly support a movement or a campaign. Second, we make a thorough case study for this dataset and analyze common patterns and outliers of political posters. Finally, we propose a model that combines the power of both appearance and text information to classify political posters with significantly high accuracy.
Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots
Venue: arXiv cs.RO 2020
Year: 2020

This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved problem challenged by communication, power, and compute constraints. Prior works have addressed the problems of rapid exploration and leveraging multiple systems to increase exploration rate; however, communication considerations have been left largely unaddressed. This paper bridges this gap in the state of the art by developing distributed perceptual modeling that enables high-fidelity mapping while remaining amenable to low-bandwidth communication channels. The approach yields significant gains in exploration rate for multi-robot teams as compared to state-of-the-art approaches. The work is evaluated through simulation studies and hardware experiments in a wild cave in West Virginia.
Rethinking Road Surface 3D Reconstruction and Pothole Detection: From Perspective Transformation to Disparity Map Segmentation
Venue: arXiv cs.CV 2020
Year: 2020

Potholes are one of the most common forms of road damage, which can severely affect driving comfort, road safety and vehicle condition. Pothole detection is typically performed by either structural engineers or certified inspectors. This task is, however, not only hazardous for the personnel but also extremely time-consuming. This paper presents an efficient pothole detection algorithm based on road disparity map estimation and segmentation. We first generalize the perspective transformation by incorporating the stereo rig roll angle. The road disparities are then estimated using semi-global matching. A disparity map transformation algorithm is then performed to better distinguish the damaged road areas. Finally, we utilize simple linear iterative clustering to group the transformed disparities into a collection of superpixels. The potholes are then detected by finding the superpixels, whose values are lower than an adaptively determined threshold. The proposed algorithm is implemented on an NVIDIA RTX 2080 Ti GPU in CUDA. The experiments demonstrate the accuracy and efficiency of our proposed road pothole detection algorithm, where an accuracy of 99.6% and an F-score of 89.4% are achieved.
Lexically-constrained Text Generation through Commonsense Knowledge Extraction and Injection
Venue: arXiv cs.CL 2020
Year: 2020

Conditional text generation has been a challenging task that is yet to see human-level performance from state-of-the-art models. In this work, we specifically focus on the Commongen benchmark, wherein the aim is to generate a plausible sentence for a given set of input concepts. Despite advances in other tasks, large pre-trained language models that are fine-tuned on this dataset often produce sentences that are syntactically correct but qualitatively deviate from a human understanding of common sense. Furthermore, generated sequences are unable to fulfill such lexical requirements as matching part-of-speech and full concept coverage. In this paper, we explore how commonsense knowledge graphs can enhance model performance, with respect to commonsense reasoning and lexically-constrained decoding. We propose strategies for enhancing the semantic correctness of the generated text, which we accomplish through: extracting commonsense relations from Conceptnet, injecting these relations into the Unified Language Model (UniLM) through attention mechanisms, and enforcing the aforementioned lexical requirements through output constraints. By performing several ablations, we find that commonsense injection enables the generation of sentences that are more aligned with human understanding, while remaining compliant with lexical requirements.
A hybrid deep-learning approach for complex biochemical named entity recognition
Venue: arXiv cs.CL 2020
Year: 2020

Named entity recognition (NER) of chemicals and drugs is a critical domain of information extraction in biochemical research. NER provides support for text mining in biochemical reactions, including entity relation extraction, attribute extraction, and metabolic response relationship extraction. However, the existence of complex naming characteristics in the biomedical field, such as polysemy and special characters, make the NER task very challenging. Here, we propose a hybrid deep learning approach to improve the recognition accuracy of NER. Specifically, our approach applies the Bidirectional Encoder Representations from Transformers (BERT) model to extract the underlying features of the text, learns a representation of the context of the text through Bi-directional Long Short-Term Memory (BILSTM), and incorporates the multi-head attention (MHATT) mechanism to extract chapter-level features. In this approach, the MHATT mechanism aims to improve the recognition accuracy of abbreviations to efficiently deal with the problem of inconsistency in full-text labels. Moreover, conditional random field (CRF) is used to label sequence tags because this probabilistic method does not need strict independence assumptions and can accommodate arbitrary context information. The experimental evaluation on a publicly-available dataset shows that the proposed hybrid approach achieves the best recognition performance; in particular, it substantially improves performance in recognizing abbreviations, polysemes, and low-frequency entities, compared with the state-of-the-art approaches. For instance, compared with the recognition accuracies for low-frequency entities produced by the BILSTM-CRF algorithm, those produced by the hybrid approach on two entity datasets (MULTIPLE and IDENTIFIER) have been increased by 80% and 21.69%, respectively.
Topics and Treatments in Global Software Engineering Research: A Systematic Snapshot
Venue: arXiv cs.SE 2020
Year: 2020

This study presents an analysis of the most recent literature addressing global software engineering (GSE). We examine the current state of GSE research using a new Systematic Snapshot Mapping (SSM) technique. We analysed 275 papers published between January 2011 and June 2012 in peer-reviewed conferences, journals and workshops. Our results provide a coarse-grained overview of the very recent literature addressing GSE, by classifying studies into predefined categories. We also follow and extend several prior classifications to support our synthesis of the data. Our results reveal that currently GSE studies are focused on Management and Infrastructure related factors. Most of the studies are conducted at the organizational level using methods such as interviews, surveys, field studies and case studies. We use inter-country network analysis to confirm that the USA and India are major players in GSE, with USA-India collaborations being the most frequently studied, followed by USA-China. Specific groups of countries have dominated the reported GSE project locations. In contrast, regions including Central Asia, South Asia (except India), Africa and South East Asia have not been covered in these studies. While a considerable number of GSE-related studies have been published they are currently quite narrowly focused on exploratory research and explanatory theories. The critical research paradigm has been untouched, perhaps due to a lack of criteria and principles for carrying out such research in GSE. An absence of formulative research, experimentation and simulation, and a comparative focus on evaluative approaches, all suggest that existing tools, methods and approaches from related fields are being tested in the GSE context. However, these solutions may not scale to cover GSE-related issues or may overlook factors/facets specific to GSE.
Path Planning and Obstacle Avoidance Scheme for Autonomous Robots using Raspberry Pi
Venue: arXiv cs.RO 2020
Year: 2020

With the incremental development of robotic platforms to automate the manual processes, path planning has become a critical domain with or without the knowledge of the indoor and outdoor environment. The algorithms can be intelligent or pre-structured and should optimally reach the destination efficiently. The major challenge in this domain is to find a path which is free from static obstacles as well as dynamic obstacles. In this paper, a methodology is proposed with the implementation details of the robotic platform to cover the critical key points and to arrive at the original key point in a dynamic environment. The main computation is happening inside a Raspberry Pi B+ module, and compass, wheel encoders and ultrasonic sensors were used in the implementation for the localization of the robot to relevant key points.
Computer Vision based Accident Detection for Autonomous Vehicles
Venue: arXiv cs.CV 2020
Year: 2020

Numerous Deep Learning and sensor-based models have been developed to detect potential accidents with an autonomous vehicle. However, a self-driving car needs to be able to detect accidents between other vehicles in its path and take appropriate actions such as to slow down or stop and inform the concerned authorities. In this paper, we propose a novel support system for self-driving cars that detects vehicular accidents through a dashboard camera. The system leverages the Mask R-CNN framework for vehicle detection and a centroid tracking algorithm to track the detected vehicle. Additionally, the framework calculates various parameters such as speed, acceleration, and trajectory to determine whether an accident has occurred between any of the tracked vehicles. The framework has been tested on a custom dataset of dashcam footage and achieves a high accident detection rate while maintaining a low false alarm rate.
Learning to Localize Through Compressed Binary Maps
Venue: arXiv cs.CV 2020
Year: 2020

One of the main difficulties of scaling current localization systems to large environments is the on-board storage required for the maps. In this paper we propose to learn to compress the map representation such that it is optimal for the localization task. As a consequence, higher compression rates can be achieved without loss of localization accuracy when compared to standard coding schemes that optimize for reconstruction, thus ignoring the end task. Our experiments show that it is possible to learn a task-specific compression which reduces storage requirements by two orders of magnitude over general-purpose codecs such as WebP without sacrificing performance.
DynamicHS: Streamlining Reiter's Hitting-Set Tree for Sequential Diagnosis
Venue: arXiv cs.AI 2020
Year: 2020

Given a system that does not work as expected, Sequential Diagnosis (SD) aims at suggesting a series of system measurements to isolate the true explanation for the system's misbehavior from a potentially exponential set of possible explanations. To reason about the best next measurement, SD methods usually require a sample of possible fault explanations at each step of the iterative diagnostic process. The computation of this sample can be accomplished by various diagnostic search algorithms. Among those, Reiter's HS-Tree is one of the most popular due its desirable properties and general applicability. Usually, HS-Tree is used in a stateless fashion throughout the SD process to (re)compute a sample of possible fault explanations in each iteration, each time given the latest (updated) system knowledge including all so-far collected measurements. At this, the built search tree is discarded between two iterations, although often large parts of the tree have to be rebuilt in the next iteration, involving redundant operations and calls to costly reasoning services. As a remedy to this, we propose DynamicHS, a variant of HS-Tree that maintains state throughout the diagnostic session and additionally embraces special strategies to minimize the number of expensive reasoner invocations. In this vein, DynamicHS provides an answer to a longstanding question posed by Raymond Reiter in his seminal paper from 1987. Extensive evaluations on real-world diagnosis problems prove the reasonability of the DynamicHS and testify its clear superiority to HS-Tree wrt. computation time. More specifically, DynamicHS outperformed HS-Tree in 96% of the executed sequential diagnosis sessions and, per run, the latter required up to 800% the time of the former. Remarkably, DynamicHS achieves these performance improvements while preserving all desirable properties as well as the general applicability of HS-Tree.
Optimal Decoding of Convolutional Codes using a Linear State Space Control Formulation
Venue: arXiv cs.IT 2020
Year: 2020

The equivalence of a systematic convolutional encoder as linear state-space control system is first realized and presented through an example. Then, utilizing this structure, a new optimal state-sequence estimator is derived, in the spirit of the Viterbi algorithm. Afterwords, a novel way to perform optimal decoding is achieved, named the Bowyer Decoder, which is a fully deterministic decoder in that the full FSM is known to the decoding algorithm.
Weight-Based Exploration for Unmanned Aerial Teams Searching for Multiple Survivors
Venue: arXiv cs.RO 2020
Year: 2020

During floods, reaching survivors in the shortest possible time is a priority for rescue teams. Given their ability to explore difficult terrain in short spans of time, Unmanned Aerial Vehicles (UAVs) have become an increasingly valuable aid to search and rescue operations. Traditionally, UAVs utilize exhaustive lawnmower exploration patterns to locate stranded survivors, without any information regarding the survivor's whereabouts. In real life disaster scenarios however, on-ground observers provide valuable information to the rescue effort, such as the survivor's last known location and heading. In earlier work, a Weight Based Exploration (WBE) model, which utilizes this information to generate a prioritized list of waypoints to aid the UAV in its search mission, was proposed. This approach was shown to be effective for a single UAV locating a single survivor. In this paper, we extend the WBE model to a team of UAVs locating multiple survivors. The model initially partitions the search environment amongst the UAVs using Voronoi cells. The UAVs then utilize the WBE model to locate survivors in their partitions. We test this model with varying survivor locations and headings. We demonstrate the scalability of the model developed by testing the model with aerial teams comprising several UAVs.
LQF: Linear Quadratic Fine-Tuning
Venue: arXiv cs.LG 2020
Year: 2020

Classifiers that are linear in their parameters, and trained by optimizing a convex loss function, have predictable behavior with respect to changes in the training data, initial conditions, and optimization. Such desirable properties are absent in deep neural networks (DNNs), typically trained by non-linear fine-tuning of a pre-trained model. Previous attempts to linearize DNNs have led to interesting theoretical insights, but have not impacted the practice due to the substantial performance gap compared to standard non-linear optimization. We present the first method for linearizing a pre-trained model that achieves comparable performance to non-linear fine-tuning on most of real-world image classification tasks tested, thus enjoying the interpretability of linear models without incurring punishing losses in performance. LQF consists of simple modifications to the architecture, loss function and optimization typically used for classification: Leaky-ReLU instead of ReLU, mean squared loss instead of cross-entropy, and pre-conditioning using Kronecker factorization. None of these changes in isolation is sufficient to approach the performance of non-linear fine-tuning. When used in combination, they allow us to reach comparable performance, and even superior in the low-data regime, while enjoying the simplicity, robustness and interpretability of linear-quadratic optimization.
Program State Abstraction for Feedback-Driven Fuzz Testing using Likely Invariants
Venue: arXiv cs.SE 2020
Year: 2020

Fuzz testing proved its great effectiveness in finding software bugs in the latest years, however, there are still open challenges. Coverage-guided fuzzers suffer from the fact that covering a program point does not ensure the trigger of a fault. Other more sensitive techniques that in theory should cope with this problem, such as the coverage of the memory values, easily lead to path explosion. In this thesis, we propose a new feedback for Feedback-driven Fuzz testing that combines code coverage with the "shape" of the data. We learn likely invariants for each basic block in order to divide into regions the space described by the variables used in the block. The goal is to distinguish in the feedback when a block is executed with values that fall in different regions of the space. This better approximates the program state coverage and, on some targets, improves the ability of the fuzzer in finding faults. We developed a prototype using LLVM and AFL++ called InvsCov.
Incremental Verification of Fixed-Point Implementations of Neural Networks
Venue: arXiv cs.LO 2020
Year: 2020

Implementations of artificial neural networks (ANNs) might lead to failures, which are hardly predicted in the design phase since ANNs are highly parallel and their parameters are barely interpretable. Here, we develop and evaluate a novel symbolic verification framework using incremental bounded model checking (BMC), satisfiability modulo theories (SMT), and invariant inference, to obtain adversarial cases and validate coverage methods in a multi-layer perceptron (MLP). We exploit incremental BMC based on interval analysis to compute boundaries from a neuron's input. Then, the latter are propagated to effectively find a neuron's output since it is the input of the next one. This paper describes the first bit-precise symbolic verification framework to reason over actual implementations of ANNs in CUDA, based on invariant inference, therefore providing further guarantees about finite-precision arithmetic and its rounding errors, which are routinely ignored in the existing literature. We have implemented the proposed approach on top of the efficient SMT-based bounded model checker (ESBMC), and its experimental results show that it can successfully verify safety properties, in actual implementations of ANNs, and generate real adversarial cases in MLPs. Our approach was able to verify and produce adversarial examples for 85.8% of 21 test cases considering different input images, and 100% of the properties related to covering methods. Although our verification time is higher than existing approaches, our methodology can consider fixed-point implementation aspects that are disregarded by the state-of-the-art verification methodologies.
FuSeBMC: A White-Box Fuzzer for Finding Security Vulnerabilities in C Programs
Venue: arXiv cs.CR 2020
Year: 2020

We describe and evaluate a novel white-box fuzzer for C programs named FuSeBMC, which combines fuzzing and symbolic execution, and applies Bounded Model Checking (BMC) to find security vulnerabilities in C programs. FuSeBMC explores and analyzes C programs (1) to find execution paths that lead to property violations and (2) to incrementally inject labels to guide the fuzzer and the BMC engine to produce test-cases for code coverage. FuSeBMC successfully participates in Test-Comp'21 and achieves first place in the Cover-Error category and second place in the Overall category.
Monocular Depth Parameterizing Networks
Venue: arXiv cs.CV 2020
Year: 2020

Monocular depth estimation is a highly challenging problem that is often addressed with deep neural networks. While these are able to use recognition of image features to predict reasonably looking depth maps the result often has low metric accuracy. In contrast traditional stereo methods using multiple cameras provide highly accurate estimation when pixel matching is possible. In this work we propose to combine the two approaches leveraging their respective strengths. For this purpose we propose a network structure that given an image provides a parameterization of a set of depth maps with feasible shapes. Optimizing over the parameterization then allows us to search the shapes for a photo consistent solution with respect to other images. This allows us to enforce geometric properties that are difficult to observe in single image as well as relaxes the learning problem allowing us to use relatively small networks. Our experimental evaluation shows that our method generates more accurate depth maps and generalizes better than competing state-of-the-art approaches.