OpenRaiser/Intern-Atlas huggingface dataset:
DASH: Modularized Human Manipulation Simulation with Vision and Language for Embodied AI
Venue: arXiv cs.GR 2021
Year: 2021

Creating virtual humans with embodied, human-like perceptual and actuation constraints has the promise to provide an integrated simulation platform for many scientific and engineering applications. We present Dynamic and Autonomous Simulated Human (DASH), an embodied virtual human that, given natural language commands, performs grasp-and-stack tasks in a physically-simulated cluttered environment solely using its own visual perception, proprioception, and touch, without requiring human motion data. By factoring the DASH system into a vision module, a language module, and manipulation modules of two skill categories, we can mix and match analytical and machine learning techniques for different modules so that DASH is able to not only perform randomly arranged tasks with a high success rate, but also do so under anthropomorphic constraints and with fluid and diverse motions. The modular design also favors analysis and extensibility to more complex manipulation skills.
Construction for both self-dual codes and LCD codes
Venue: arXiv cs.IT 2021
Year: 2021

From a given $[n, k]$ code $C$, we give a method for constructing many $[n, k]$ codes $C'$ such that the hull dimensions of $C$ and $C'$ are identical. This method can be applied to constructions of both self-dual codes and linear complementary dual codes (LCD codes for short). Using the method, we construct 661 new inequivalent extremal doubly even $[56, 28, 12]$ codes. Furthermore, constructing LCD codes by the method, we improve some of the previously known lower bounds on the largest minimum weights of binary LCD codes of length $n=26,28 \le n \le 40$.
A new rotating machinery fault diagnosis method based on the Time Series Transformer
Venue: arXiv cs.CE 2021
Year: 2021

Fault diagnosis of rotating machinery is an important engineering problem. In recent years, fault diagnosis methods based on the Convolutional Neural Network (CNN) and Recurrent Neural Network (RNN) have been mature, but Transformer has not been widely used in the field of fault diagnosis. To address these deficiencies, a new method based on the Time Series Transformer (TST) is proposed to recognize the fault mode of bearings. In this paper, our contributions include: Firstly, we designed a tokens sequences generation method which can handle data in 1D format, namely time series tokenizer. Then, the TST combining time series tokenizer and Transformer was introduced. Furthermore, the test results on the given dataset show that the proposed method has better fault identification capability than the traditional CNN and RNN models. Secondly, through the experiments, the effect of structural hyperparameters such as subsequence length and embedding dimension on fault diagnosis performance, computational complexity and parameters number of the TST is analyzed in detail. The influence laws of some hyperparameters are obtained. Finally, via t-Distributed Stochastic Neighbor Embedding (t-SNE) dimensionality reduction method, the feature vectors in the embedding space are visualized. On this basis, the working pattern of TST has been explained to a certain extent. Moreover, by analyzing the distribution form of the feature vectors, we find that compared with the traditional CNN and RNN models, the feature vectors extracted by the method in this paper show the best intra-class compactness and inter-class separability. These results further demonstrate the effectiveness of the proposed method.
What can phylogenetic metrics tell us about useful diversity in evolutionary algorithms?
Venue: arXiv cs.NE 2021
Year: 2021

It is generally accepted that "diversity" is associated with success in evolutionary algorithms. However, diversity is a broad concept that can be measured and defined in a multitude of ways. To date, most evolutionary computation research has measured diversity using the richness and/or evenness of a particular genotypic or phenotypic property. While these metrics are informative, we hypothesize that other diversity metrics are more strongly predictive of success. Phylogenetic diversity metrics are a class of metrics popularly used in biology, which take into account the evolutionary history of a population. Here, we investigate the extent to which 1) these metrics provide different information than those traditionally used in evolutionary computation, and 2) these metrics better predict the long-term success of a run of evolutionary computation. We find that, in most cases, phylogenetic metrics behave meaningfully differently from other diversity metrics. Moreover, our results suggest that phylogenetic diversity is indeed a better predictor of success.
A Lightweight Machine Learning Assisted Power Optimization for Minimum Error in NOMA-CRS over Nakagami-$m$ channels
Venue: arXiv cs.IT 2021
Year: 2021

Non-orthogonal multiple access based cooperative relaying system (NOMA-CRS) has been proposed to alleviate the decay in spectral efficiency of the conventional CRS. However, existing NOMA-CRS studies assume perfect successive interference canceler at the relay and mostly investigate sum-rate whereas the error performance has not been taken into consideration. In this paper, we analyze error performance of the NOMA-CRS and the closed-form bit error probability (BEP) expression is derived over Nakagami-m fading channels. Then, thanks to the high performance of machine learning (ML) in challenging optimization problems, a joint power sharing-power allocation (PS-PA) scheme is proposed to minimize the bit error rate (BER) of the NOMA-CRS. The proposed ML-assisted optimization has a very low online implementation complexity. Based on provided extensive simulations, theoretical BEP analysis is validated. Besides, the proposed ML-aided PS-PA provides minimum BER (MBER) and outperforms previous PA strategies for the NOMA-CRS notably.
A Predictive Application Offloading Algorithm Using Small Datasets for Cloud Robotics
Venue: arXiv cs.RO 2021
Year: 2021

Many robotic applications that are critical for robot performance require immediate feedback, hence execution time is a critical concern. Furthermore, it is common that robots come with a fixed quantity of hardware resources; if an application requires more computational resources than the robot can accommodate, its onboard execution might be extended to a degree that degrades the robot performance. Cloud computing, on the other hand, features on-demand computational resources; by enabling robots to leverage those resources, application execution time can be reduced. The key to enabling robot use of cloud computing is designing an efficient offloading algorithm that makes optimum use of the robot onboard capabilities and also forms a quick consensus on when to offload without any prior knowledge or information about the application. In this paper, we propose a predictive algorithm to anticipate the time needed to execute an application for a given application data input size with the help of a small number of previous observations. To validate the algorithm, we train it on the previous N observations, which include independent (input data size) and dependent (execution time) variables. To understand how algorithm performance varies in terms of prediction accuracy and error, we tested various N values using linear regression and a mobile robot path planning application. From our experiments and analysis, we determined the algorithm to have acceptable error and prediction accuracy when N>40.
Master memory function for delay-based reservoir computers with single-variable dynamics
Venue: arXiv cs.ET 2021
Year: 2021

We show that many delay-based reservoir computers considered in the literature can be characterized by a universal master memory function (MMF). Once computed for two independent parameters, this function provides linear memory capacity for any delay-based single-variable reservoir with small inputs. Moreover, we propose an analytical description of the MMF that enables its efficient and fast computation. Our approach can be applied not only to reservoirs governed by known dynamical rules such as Mackey-Glass or Ikeda-like systems but also to reservoirs whose dynamical model is not available. We also present results comparing the performance of the reservoir computer and the memory capacity given by the MMF.
DenseLiDAR: A Real-Time Pseudo Dense Depth Guided Depth Completion Network
Venue: arXiv cs.CV 2021
Year: 2021

Depth Completion can produce a dense depth map from a sparse input and provide a more complete 3D description of the environment. Despite great progress made in depth completion, the sparsity of the input and low density of the ground truth still make this problem challenging. In this work, we propose DenseLiDAR, a novel real-time pseudo-depth guided depth completion neural network. We exploit dense pseudo-depth map obtained from simple morphological operations to guide the network in three aspects: (1) Constructing a residual structure for the output; (2) Rectifying the sparse input data; (3) Providing dense structural loss for training the network. Thanks to these novel designs, higher performance of the output could be achieved. In addition, two new metrics for better evaluating the quality of the predicted depth map are also presented. Extensive experiments on KITTI depth completion benchmark suggest that our model is able to achieve the state-of-the-art performance at the highest frame rate of 50Hz. The predicted dense depth is further evaluated by several downstream robotic perception or positioning tasks. For the task of 3D object detection, 3~5 percent performance gains on small objects categories are achieved on KITTI 3D object detection dataset. For RGB-D SLAM, higher accuracy on vehicle's trajectory is also obtained in KITTI Odometry dataset. These promising results not only verify the high quality of our depth prediction, but also demonstrate the potential of improving the related downstream tasks by using depth completion results.
SceneAR: Scene-based Micro Narratives for Sharing and Remixing in Augmented Reality
Venue: arXiv cs.HC 2021
Year: 2021

Short-form digital storytelling has become a popular medium for millions of people to express themselves. Traditionally, this medium uses primarily 2D media such as text (e.g., memes), images (e.g., Instagram), gifs (e.g., Giphy), and videos (e.g., TikTok, Snapchat). To expand the modalities from 2D to 3D media, we present SceneAR, a smartphone application for creating sequential scene-based micro narratives in augmented reality (AR). What sets SceneAR apart from prior work is the ability to share the scene-based stories as AR content -- no longer limited to sharing images or videos, these narratives can now be experienced in people's own physical environments. Additionally, SceneAR affords users the ability to remix AR, empowering them to build-upon others' creations collectively. We asked 18 people to use SceneAR in a 3-day study. Based on user interviews, analysis of screen recordings, and the stories they created, we extracted three themes. From those themes and the study overall, we derived six strategies for designers interested in supporting short-form AR narratives.
Bowlership: Examining the Existence of Bowler Synergies in Cricket
Venue: arXiv cs.SI 2021
Year: 2021

Player synergies are a salient feature of team sports. In the team game of cricket, player synergies may be reflected in batting partnerships. Batting partnerships have been analysed extensively. In this paper, we introduce and precisely define bowling partnerships. We explain their importance, and analyse ball-by-ball data from three formats of the game: 2,034 one-day international matches, 634 Test matches and 1,432 Twenty-20 international matches, in order to find such bowling partnerships ("bowlerships"). We find that bowlerships exist. Further, we construct bowlership networks based on these pairwise synergies. We assert that these bowlership networks can be analysed for team selection before a match, and making bowling changes during the match. We present Algorithm bowler-select that selects a team based on bowlerships.
Compact representations of convolutional neural networks via weight pruning and quantization
Venue: arXiv cs.LG 2021
Year: 2021

The state-of-the-art performance for several real-world problems is currently reached by convolutional neural networks (CNN). Such learning models exploit recent results in the field of deep learning, typically leading to highly performing, yet very large neural networks with (at least) millions of parameters. As a result, the deployment of such models is not possible when only small amounts of RAM are available, or in general within resource-limited platforms, and strategies to compress CNNs became thus of paramount importance. In this paper we propose a novel lossless storage format for CNNs based on source coding and leveraging both weight pruning and quantization. We theoretically derive the space upper bounds for the proposed structures, showing their relationship with both sparsity and quantization levels of the weight matrices. Both compression rates and excution times have been tested against reference methods for matrix compression, and an empirical evaluation of state-of-the-art quantization schemes based on weight sharing is also discussed, to assess their impact on the performance when applied to both convolutional and fully connected layers. On four benchmarks for classification and regression problems and comparing to the baseline pre-trained uncompressed network, we achieved a reduction of space occupancy up to 0.6% on fully connected layers and 5.44% on the whole network, while performing at least as competitive as the baseline.
Towards Retina-Quality VR Video Streaming: 15ms Could Save You 80% of Your Bandwidth
Venue: arXiv cs.NI 2021
Year: 2021

Virtual reality systems today cannot yet stream immersive, retina-quality virtual reality video over a network. One of the greatest challenges to this goal is the sheer data rates required to transmit retina-quality video frames at high resolutions and frame rates. Recent work has leveraged the decay of visual acuity in human perception in novel gaze-contingent video compression techniques. In this paper, we show that reducing the motion-to-photon latency of a system itself is a key method for improving the compression ratio of gaze-contingent compression. Our key finding is that a client and streaming server system with sub-15ms latency can achieve 5x better compression than traditional techniques while also using simpler software algorithms than previous work.
Characterizing Malicious URL Campaigns
Venue: arXiv cs.CR 2021
Year: 2021

URLs are central to a myriad of cyber-security threats, from phishing to the distribution of malware. Their inherent ease of use and familiarity is continuously abused by attackers to evade defences and deceive end-users. Seemingly dissimilar URLs are being used in an organized way to perform phishing attacks and distribute malware. We refer to such behaviours as campaigns, with the hypothesis being that attacks are often coordinated to maximize success rates and develop evasion tactics. The aim is to gain better insights into campaigns, bolster our grasp of their characteristics, and thus aid the community devise more robust solutions. To this end, we performed extensive research and analysis into 311M records containing 77M unique real-world URLs that were submitted to VirusTotal from Dec 2019 to Jan 2020. From this dataset, 2.6M suspicious campaigns were identified based on their attached metadata, of which 77,810 were doubly verified as malicious. Using the 38.1M records and 9.9M URLs within these malicious campaigns, we provide varied insights such as their targeted victim brands as well as URL sizes and heterogeneity. Some surprising findings were observed, such as detection rates falling to just 13.27% for campaigns that employ more than 100 unique URLs. The paper concludes with several case-studies that illustrate the common malicious techniques employed by attackers to imperil users and circumvent defences.
Towards formally analyzed Cyber-Physical Systems
Venue: arXiv cs.DC 2021
Year: 2021

Cyber-physical systems (CPS) can be found everywhere: smart homes, autonomous vehicles, aircrafts, healthcare, agriculture and industrial production lines. CPSs are often critical, as system failure can cause serious damage to property and human lives. Today's cyber-physical systems are extremely complex, heterogeneous systems: to be able to manage their complexity in a unified way, we need an infrastructure that ensures that our systems operate with the high reliability as intended. In addition to the infrastructure, we need to provide engineers a method to ensure system reliability at design time. The paradigm of model-driven design provides a toolkit supporting the design and analysis and by choosing the proper formalisms, the model-driven design approach allows us to validate our system at design time.
The rUNSWift SPL Field Segmentation Dataset
Venue: arXiv cs.RO 2021
Year: 2021

In RoboCup SPL, soccer field segmentation has been widely recognised as one of the most critical robot vision problems. Key challenges include dynamic light condition, different calibration status for individual robot, various camera prospective and more. In this paper, we propose a dataset that contains 20 videos recorded with Nao V5/V6 humanroid robots by team rUNSWift under different circumstances. Each of the videos contains several consecutive high resolution frames and the corresponding labels for field. We propose this dataset to provide training data for the league to overcome field segmentation problem. The dataset will be available online for download. Details of annotation and example of usage will be explained in later sections.
Linking disjoint segments into a simple polygon is hard
Venue: arXiv cs.CG 2021
Year: 2021

Deciding whether a family of disjoint line segments in the plane can be linked into a simple polygon (or a simple polygonal chain) by adding segments between their endpoints is NP-hard.
Airplane Detection Based on Mask Region Convolution Neural Network
Venue: arXiv cs.CV 2021
Year: 2021

Addressing airport traffic jams is one of the most crucial and challenging tasks in the remote sensing field, especially for the busiest airports. Several solutions have been employed to address this problem depending on the airplane detection process. The most effective solutions are through the use of satellite images with deep learning techniques. Such solutions, however, are significantly costly and require satellites and modern complicated technology which may not be available in most countries worldwide. This paper provides a universal, low cost and fast solution for airplane detection in airports. This paper recommends the use of drones instead of satellites to feed the system with drone images using a proposed deep learning model. Drone images are employed as the dataset to train and evaluate a mask region convolution neural network (RCNN) model. The Mask RCNN model applies faster RCNN as its base configuration with critical modifications on its head neural network constructions. The model detects whether or not an airplane is present and includes mask estimations to approximate surface area and length, which will help future works identify the airplane type. This solution can be easily implemented globally as it is a low-cost and fast solution for airplane detection at airports. The evaluation process reveals promising results according to Microsoft Common Objects in Context (COCO) metrics.
A Hybrid Rule-Based and Data-Driven Approach to Driver Modeling through Particle Filtering
Venue: arXiv cs.RO 2021
Year: 2021

Autonomous vehicles need to model the behavior of surrounding human driven vehicles to be safe and efficient traffic participants. Existing approaches to modeling human driving behavior have relied on both data-driven and rule-based methods. While data-driven models are more expressive, rule-based models are interpretable, which is an important requirement for safety-critical domains like driving. However, rule-based models are not sufficiently representative of data, and data-driven models are yet unable to generate realistic traffic simulation due to unrealistic driving behavior such as collisions. In this paper, we propose a methodology that combines rule-based modeling with data-driven learning. While the rules are governed by interpretable parameters of the driver model, these parameters are learned online from driving demonstration data using particle filtering. We perform driver modeling experiments on the task of highway driving and merging using data from three real-world driving demonstration datasets. Our results show that driver models based on our hybrid rule-based and data-driven approach can accurately capture real-world driving behavior. Further, we assess the realism of the driving behavior generated by our model by having humans perform a driving Turing test, where they are asked to distinguish between videos of real driving and those generated using our driver models.
Performance Evaluation of Ad Hoc Multicast Routing Protocols to Facilitate Video Streaming in VANETS
Venue: arXiv cs.NI 2021
Year: 2021

Vehicular Ad Hoc Network (VANET) is a type of mobile ad hoc network (MANET) that facilitates communication among vehicles. VANET provides inter-vehicular communications to serve for the application like road traffic safety and traffic efficiency. Infotainment service has been an anticipating trend in VANETs, and video streaming has a high potential in VANET. Although, this emerging technology is trending, there are still some issues like QoS provisions, decentralized medium access control, node coverage area, and finding and maintaining routes due to highly dynamic topology. These issues make multicast communication difficult in VANETs. Numerous routing protocols and routing strategies have been projected to cope with these issues. Lots of work has taken place to assess and measure the performances of these protocols in VANETs but these protocols are rarely analyzed for performance under stress of real time video multicast. In this study two different multicast routing protocols viz. Multicast Ad hoc On Demand Distance Vector (MAODV) and Protocol for Unified Multicasting through Announcements (PUMA) are evaluated for facilitating video streaming in VANETS. The protocols are examined against the QoS parameters such as Network Throughput, Packet Delivery Ratio (PDR), Average end to end Delay, and Normalized Routing Load (NRL). Variable Bit Rate (VBR) traffic is used to evaluate the performances of protocol. PUMA, at the end, showed better performance against different QoS provisions in different scenarios