OpenRaiser/Intern-Atlas huggingface dataset:
Automated Discovery of Mathematical Definitions in Text with Deep Neural Networks
Venue: arXiv cs.CL 2020
Year: 2020

Automatic definition extraction from texts is an important task that has numerous applications in several natural language processing fields such as summarization, analysis of scientific texts, automatic taxonomy generation, ontology generation, concept identification, and question answering. For definitions that are contained within a single sentence, this problem can be viewed as a binary classification of sentences into definitions and non-definitions. In this paper, we focus on automatic detection of one-sentence definitions in mathematical texts, which are difficult to separate from surrounding text. We experiment with several data representations, which include sentence syntactic structure and word embeddings, and apply deep learning methods such as the Convolutional Neural Network (CNN) and the Long Short-Term Memory network (LSTM), in order to identify mathematical definitions. Our experiments demonstrate the superiority of CNN and its combination with LSTM, when applied on the syntactically-enriched input representation. We also present a new dataset for definition extraction from mathematical texts. We demonstrate that this dataset is beneficial for training supervised models aimed at extraction of mathematical definitions. Our experiments with different domains demonstrate that mathematical definitions require special treatment, and that using cross-domain learning is inefficient for that task.
Refer, Reuse, Reduce: Generating Subsequent References in Visual and Conversational Contexts
Venue: arXiv cs.CL 2020
Year: 2020

Dialogue participants often refer to entities or situations repeatedly within a conversation, which contributes to its cohesiveness. Subsequent references exploit the common ground accumulated by the interlocutors and hence have several interesting properties, namely, they tend to be shorter and reuse expressions that were effective in previous mentions. In this paper, we tackle the generation of first and subsequent references in visually grounded dialogue. We propose a generation model that produces referring utterances grounded in both the visual and the conversational context. To assess the referring effectiveness of its output, we also implement a reference resolution system. Our experiments and analyses show that the model produces better, more effective referring utterances than a model not grounded in the dialogue context, and generates subsequent references that exhibit linguistic patterns akin to humans.
Geometry Perspective Of Estimating Learning Capability Of Neural Networks
Venue: arXiv cs.LG 2020
Year: 2020

The paper uses statistical and differential geometric motivation to acquire prior information about the learning capability of an artificial neural network on a given dataset. The paper considers a broad class of neural networks with generalized architecture performing simple least square regression with stochastic gradient descent (SGD). The system characteristics at two critical epochs in the learning trajectory are analyzed. During some epochs of the training phase, the system reaches equilibrium with the generalization capability attaining a maximum. The system can also be coherent with localized, non-equilibrium states, which is characterized by the stabilization of the Hessian matrix. The paper proves that neural networks with higher generalization capability will have a slower convergence rate. The relationship between the generalization capability with the stability of the neural network has also been discussed. By correlating the principles of high-energy physics with the learning theory of neural networks, the paper establishes a variant of the Complexity-Action conjecture from an artificial neural network perspective.
Solving the Steiner Tree Problem with few Terminals
Venue: arXiv cs.AI 2020
Year: 2020

The Steiner tree problem is a well-known problem in network design, routing, and VLSI design. Given a graph, edge costs, and a set of dedicated vertices (terminals), the Steiner tree problem asks to output a sub-graph that connects all terminals at minimum cost. A state-of-the-art algorithm to solve the Steiner tree problem by means of dynamic programming is the Dijkstra-Steiner algorithm. The algorithm builds a Steiner tree of the entire instance by systematically searching for smaller instances, based on subsets of the terminals, and combining Steiner trees for these smaller instances. The search heavily relies on a guiding heuristic function in order to prune the search space. However, to ensure correctness, this algorithm allows only for limited heuristic functions, namely, those that satisfy a so-called consistency condition. In this paper, we enhance the Dijkstra-Steiner algorithm and establish a revisited algorithm, called DS*. The DS* algorithm allows for arbitrary lower bounds as heuristics relaxing the previous condition on the heuristic function. Notably, we can now use linear programming based lower bounds. Further, we capture new requirements for a heuristic function in a condition, which we call admissibility. We show that admissibility is indeed weaker than consistency and establish correctness of the DS* algorithm when using an admissible heuristic function. We implement DS* and combine it with modern preprocessing, resulting in an open-source solver (DS* Solve). Finally, we compare its performance on standard benchmarks and observe a competitive behavior.
Fast Fourier Intrinsic Network
Venue: arXiv cs.CV 2020
Year: 2020

We address the problem of decomposing an image into albedo and shading. We propose the Fast Fourier Intrinsic Network, FFI-Net in short, that operates in the spectral domain, splitting the input into several spectral bands. Weights in FFI-Net are optimized in the spectral domain, allowing faster convergence to a lower error. FFI-Net is lightweight and does not need auxiliary networks for training. The network is trained end-to-end with a novel spectral loss which measures the global distance between the network prediction and corresponding ground truth. FFI-Net achieves state-of-the-art performance on MPI-Sintel, MIT Intrinsic, and IIW datasets.
Find it if You Can: End-to-End Adversarial Erasing for Weakly-Supervised Semantic Segmentation
Venue: arXiv cs.CV 2020
Year: 2020

Semantic segmentation is a task that traditionally requires a large dataset of pixel-level ground truth labels, which is time-consuming and expensive to obtain. Recent advancements in the weakly-supervised setting show that reasonable performance can be obtained by using only image-level labels. Classification is often used as a proxy task to train a deep neural network from which attention maps are extracted. However, the classification task needs only the minimum evidence to make predictions, hence it focuses on the most discriminative object regions. To overcome this problem, we propose a novel formulation of adversarial erasing of the attention maps. In contrast to previous adversarial erasing methods, we optimize two networks with opposing loss functions, which eliminates the requirement of certain suboptimal strategies; for instance, having multiple training steps that complicate the training process or a weight sharing policy between networks operating on different distributions that might be suboptimal for performance. The proposed solution does not require saliency masks, instead it uses a regularization loss to prevent the attention maps from spreading to less discriminative object regions. Our experiments on the Pascal VOC dataset demonstrate that our adversarial approach increases segmentation performance by 2.1 mIoU compared to our baseline and by 1.0 mIoU compared to previous adversarial erasing approaches.
Automated Adversary Emulation for Cyber-Physical Systems via Reinforcement Learning
Venue: arXiv cs.LG 2020
Year: 2020

Adversary emulation is an offensive exercise that provides a comprehensive assessment of a system's resilience against cyber attacks. However, adversary emulation is typically a manual process, making it costly and hard to deploy in cyber-physical systems (CPS) with complex dynamics, vulnerabilities, and operational uncertainties. In this paper, we develop an automated, domain-aware approach to adversary emulation for CPS. We formulate a Markov Decision Process (MDP) model to determine an optimal attack sequence over a hybrid attack graph with cyber (discrete) and physical (continuous) components and related physical dynamics. We apply model-based and model-free reinforcement learning (RL) methods to solve the discrete-continuous MDP in a tractable fashion. As a baseline, we also develop a greedy attack algorithm and compare it with the RL procedures. We summarize our findings through a numerical study on sensor deception attacks in buildings to compare the performance and solution quality of the proposed algorithms.
Safe Trajectory Planning Using Reinforcement Learning for Self Driving
Venue: arXiv cs.RO 2020
Year: 2020

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and search techniques have been applied to the problem of self-driving; but they do not fully address operations in environments with high-dimensional states and complex behaviors. Recently, imitation learning has been proposed for the task of self-driving; but it is labor-intensive to obtain enough training data. Reinforcement learning has been proposed as a way to directly control the car, but this has safety and comfort concerns. We propose using model-free reinforcement learning for the trajectory planning stage of self-driving and show that this approach allows us to operate the car in a more safe, general and comfortable manner, required for the task of self driving.
Trajectory Planning for Autonomous Vehicles Using Hierarchical Reinforcement Learning
Venue: arXiv cs.RO 2020
Year: 2020

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem because of the high computational cost. Supervised learning methods such as Imitation Learning lack generalization and safety guarantees. To address these problems and in order to ensure a robust framework, we propose a Hierarchical Reinforcement Learning (HRL) structure combined with a Proportional-Integral-Derivative (PID) controller for trajectory planning. HRL helps divide the task of autonomous vehicle driving into sub-goals and supports the network to learn policies for both high-level options and low-level trajectory planner choices. The introduction of sub-goals decreases convergence time and enables the policies learned to be reused for other scenarios. In addition, the proposed planner is made robust by guaranteeing smooth trajectories and by handling the noisy perception system of the ego-car. The PID controller is used for tracking the waypoints, which ensures smooth trajectories and reduces jerk. The problem of incomplete observations is handled by using a Long-Short-Term-Memory (LSTM) layer in the network. Results from the high-fidelity CARLA simulator indicate that the proposed method reduces convergence time, generates smoother trajectories, and is able to handle dynamic surroundings and noisy observations.
Singular Sturm-Liouville Problems with Zero Potential (q=0) and Singular Slow Feature Analysis
Venue: arXiv cs.LG 2020
Year: 2020

A Sturm-Liouville problem ($λwy=(ry')'+qy$) is singular if its domain is unbounded or if $r$ or $w$ vanish at the boundary. Then it is difficult to tell whether profound results from regular Sturm-Liouville theory apply. Existing criteria are often difficult to apply, e.g. because they are formulated in terms of the solution function. We study the special case that the potential $q$ is zero under Neumann boundary conditions and give simple and explicit criteria, solely in terms of the coefficient functions, to assess whether various properties of the regular case apply. Specifically, these properties are discreteness of the spectrum (BD), self-adjointness, oscillation ($i$th solution has $i$ zeros) and that the $i$th eigenvalue equals the SFA delta value (the total energy) of the $i$th solution. We further prove that stationary points of each solution strictly interlace with its zeros (in singular or regular case, regardless of the boundary condition, for zero potential or if $q < λw$ everywhere). If $\frac{r}{w}$ is bounded and of bounded variation, the criterion simplifies to requiring $\frac{|w'|}{w} \to \infty$ at singular boundary points. This research is motivated by Slow Feature Analysis (SFA), a data processing algorithm that extracts the slowest uncorrelated signals from a high-dimensional input signal and has notable success in computer vision, computational neuroscience and blind source separation. From [Sprekeler et al., 2014] it is known that for an important class of scenarios (statistically independent input), an analytic formulation of SFA reduces to a Sturm-Liouville problem with zero potential and Neumann boundary conditions. So far, the mathematical SFA theory has only considered the regular case, except for a special case that is solved by Hermite Polynomials. This work generalizes SFA theory to the singular case, i.e. open-space scenarios.
Graph Homomorphism Polynomials: Algorithms and Complexity
Venue: arXiv cs.CC 2020
Year: 2020

We study homomorphism polynomials, which are polynomials that enumerate all homomorphisms from a pattern graph $H$ to $n$-vertex graphs. These polynomials have received a lot of attention recently for their crucial role in several new algorithms for counting and detecting graph patterns, and also for obtaining natural polynomial families which are complete for algebraic complexity classes $\mathsf{VBP}$, $\mathsf{VP}$, and $\mathsf{VNP}$. We discover that, in the monotone setting, the formula complexity, the ABP complexity, and the circuit complexity of such polynomial families are exactly characterized by the treedepth, the pathwidth, and the treewidth of the pattern graph respectively. Furthermore, we establish a single, unified framework, using our characterization, to collect several known results that were obtained independently via different methods. For instance, we attain superpolynomial separations between circuits, ABPs, and formulas in the monotone setting, where the polynomial families separating the classes all correspond to well-studied combinatorial problems. Moreover, our proofs rediscover fine-grained separations between these models for constant-degree polynomials. The characterization additionally yields new space-time efficient algorithms for several pattern detection and counting problems.
After All, Only The Last Neuron Matters: Comparing Multi-modal Fusion Functions for Scene Graph Generation
Venue: arXiv cs.CV 2020
Year: 2020

From object segmentation to word vector representations, Scene Graph Generation (SGG) became a complex task built upon numerous research results. In this paper, we focus on the last module of this model: the fusion function. The role of this latter is to combine three hidden states. We perform an ablation test in order to compare different implementations. First, we reproduce the state-of-the-art results using SUM, and GATE functions. Then we expand the original solution by adding more model-agnostic functions: an adapted version of DIST and a mixture between MFB and GATE. On the basis of the state-of-the-art configuration, DIST performed the best Recall @ K, which makes it now part of the state-of-the-art.
Self-Tuning Stochastic Optimization with Curvature-Aware Gradient Filtering
Venue: arXiv cs.LG 2020
Year: 2020

Standard first-order stochastic optimization algorithms base their updates solely on the average mini-batch gradient, and it has been shown that tracking additional quantities such as the curvature can help de-sensitize common hyperparameters. Based on this intuition, we explore the use of exact per-sample Hessian-vector products and gradients to construct optimizers that are self-tuning and hyperparameter-free. Based on a dynamics model of the gradient, we derive a process which leads to a curvature-corrected, noise-adaptive online gradient estimate. The smoothness of our updates makes it more amenable to simple step size selection schemes, which we also base off of our estimates quantities. We prove that our model-based procedure converges in the noisy quadratic setting. Though we do not see similar gains in deep learning tasks, we can match the performance of well-tuned optimizers and ultimately, this is an interesting step for constructing self-tuning optimizers.
RMITB at TREC COVID 2020
Venue: arXiv cs.IR 2020
Year: 2020

Search engine users rarely express an information need using the same query, and small differences in queries can lead to very different result sets. These user query variations have been exploited in past TREC CORE tracks to contribute diverse, highly-effective runs in offline evaluation campaigns with the goal of producing reusable test collections. In this paper, we document the query fusion runs submitted to the first and second round of TREC COVID, using ten queries per topic created by the first author. In our analysis, we focus primarily on the effects of having our second priority run omitted from the judgment pool. This run is of particular interest, as it surfaced a number of relevant documents that were not judged until later rounds of the task. If the additional judgments were included in the first round, the performance of this run increased by 35 rank positions when using RBP p=0.5, highlighting the importance of judgment depth and coverage in assessment tasks.
AES: Autonomous Excavator System for Real-World and Hazardous Environments
Venue: arXiv cs.RO 2020
Year: 2020

Excavators are widely used for material-handling applications in unstructured environments, including mining and construction. The size of the global market of excavators is 44.12 Billion USD in 2018 and is predicted to grow to 63.14 Billion USD by 2026. Operating excavators in a real-world environment can be challenging due to extreme conditions and rock sliding, ground collapse, or exceeding dust. Multiple fatalities and injuries occur each year during excavations. An autonomous excavator that can substitute human operators in these hazardous environments would substantially lower the number of injuries and can improve the overall productivity.
On Efficient and Robust Metrics for RANSAC Hypotheses and 3D Rigid Registration
Venue: arXiv cs.CV 2020
Year: 2020

This paper focuses on developing efficient and robust evaluation metrics for RANSAC hypotheses to achieve accurate 3D rigid registration. Estimating six-degree-of-freedom (6-DoF) pose from feature correspondences remains a popular approach to 3D rigid registration, where random sample consensus (RANSAC) is a de-facto choice to this problem. However, existing metrics for RANSAC hypotheses are either time-consuming or sensitive to common nuisances, parameter variations, and different application scenarios, resulting in performance deterioration in overall registration accuracy and speed. We alleviate this problem by first analyzing the contributions of inliers and outliers, and then proposing several efficient and robust metrics with different designing motivations for RANSAC hypotheses. Comparative experiments on four standard datasets with different nuisances and application scenarios verify that the proposed metrics can significantly improve the registration performance and are more robust than several state-of-the-art competitors, making them good gifts to practical applications. This work also draws an interesting conclusion, i.e., not all inliers are equal while all outliers should be equal, which may shed new light on this research problem.
Neural Network Compression Via Sparse Optimization
Venue: arXiv cs.LG 2020
Year: 2020

The compression of deep neural networks (DNNs) to reduce inference cost becomes increasingly important to meet realistic deployment requirements of various applications. There have been a significant amount of work regarding network compression, while most of them are heuristic rule-based or typically not friendly to be incorporated into varying scenarios. On the other hand, sparse optimization yielding sparse solutions naturally fits the compression requirement, but due to the limited study of sparse optimization in stochastic learning, its extension and application onto model compression is rarely well explored. In this work, we propose a model compression framework based on the recent progress on sparse stochastic optimization. Compared to existing model compression techniques, our method is effective and requires fewer extra engineering efforts to incorporate with varying applications, and has been numerically demonstrated on benchmark compression tasks. Particularly, we achieve up to 7.2 and 2.9 times FLOPs reduction with the same level of evaluation accuracy on VGG16 for CIFAR10 and ResNet50 for ImageNet compared to the baseline heavy models, respectively.
On the Usefulness of Self-Attention for Automatic Speech Recognition with Transformers
Venue: arXiv cs.CL 2020
Year: 2020

Self-attention models such as Transformers, which can capture temporal relationships without being limited by the distance between events, have given competitive speech recognition results. However, we note the range of the learned context increases from the lower to upper self-attention layers, whilst acoustic events often happen within short time spans in a left-to-right order. This leads to a question: for speech recognition, is a global view of the entire sequence useful for the upper self-attention encoder layers in Transformers? To investigate this, we train models with lower self-attention/upper feed-forward layers encoders on Wall Street Journal and Switchboard. Compared to baseline Transformers, no performance drop but minor gains are observed. We further developed a novel metric of the diagonality of attention matrices and found the learned diagonality indeed increases from the lower to upper encoder self-attention layers. We conclude the global view is unnecessary in training upper encoder layers.
Model-based Reinforcement Learning from Signal Temporal Logic Specifications
Venue: arXiv cs.RO 2020
Year: 2020

Techniques based on Reinforcement Learning (RL) are increasingly being used to design control policies for robotic systems. RL fundamentally relies on state-based reward functions to encode desired behavior of the robot and bad reward functions are prone to exploitation by the learning agent, leading to behavior that is undesirable in the best case and critically dangerous in the worst. On the other hand, designing good reward functions for complex tasks is a challenging problem. In this paper, we propose expressing desired high-level robot behavior using a formal specification language known as Signal Temporal Logic (STL) as an alternative to reward/cost functions. We use STL specifications in conjunction with model-based learning to design model predictive controllers that try to optimize the satisfaction of the STL specification over a finite time horizon. The proposed algorithm is empirically evaluated on simulations of robotic system such as a pick-and-place robotic arm, and adaptive cruise control for autonomous vehicles.