OpenRaiser/Intern-Atlas huggingface dataset:
Robots State Estimation and Observability Analysis Based on Statistical Motion Models
Venue: arXiv cs.RO 2020
Year: 2020

This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation algorithm based on the error-state extended Kalman filtering framework (ESEKF). Major benefits of this method are its versatility, being applicable to different robotic systems without accurately modeling the robots' specific dynamics, and ability to estimate the robot's (angular) acceleration, jerk, or higher-order dynamic states with low delay. Mathematical analysis with numerical simulations are presented to show the properties of the statistical model-based estimation framework and to reveal its connection to existing low-pass filters. Furthermore, a new paradigm is developed for robots observability analysis by developing Lie derivatives and associated partial differentiation directly on manifolds. It is shown that this new paradigm is much simpler and more natural than existing methods based on quaternion parameterizations. It is also scalable to high dimensional systems. A novel \textbf{\textit{thin}} set concept is introduced to characterize the unobservable subset of the system states, providing the theoretical foundation to observability analysis of robotic systems operating on manifolds and in high dimension. Finally, extensive experiments including full state estimation and extrinsic calibration (both POS-IMU and IMU-IMU) on a quadrotor UAV, a handheld platform and a ground vehicle are conducted. Comparisons with existing methods show that the proposed method can effectively estimate all extrinsic parameters, the robot's translation/angular acceleration and other state variables (e.g., position, velocity, attitude) of high accuracy and low delay.
The Extraordinary Failure of Complement Coercion Crowdsourcing
Venue: arXiv cs.CL 2020
Year: 2020

Crowdsourcing has eased and scaled up the collection of linguistic annotation in recent years. In this work, we follow known methodologies of collecting labeled data for the complement coercion phenomenon. These are constructions with an implied action -- e.g., "I started a new book I bought last week", where the implied action is reading. We aim to collect annotated data for this phenomenon by reducing it to either of two known tasks: Explicit Completion and Natural Language Inference. However, in both cases, crowdsourcing resulted in low agreement scores, even though we followed the same methodologies as in previous work. Why does the same process fail to yield high agreement scores? We specify our modeling schemes, highlight the differences with previous work and provide some insights about the task and possible explanations for the failure. We conclude that specific phenomena require tailored solutions, not only in specialized algorithms, but also in data collection methods.
MedICaT: A Dataset of Medical Images, Captions, and Textual References
Venue: arXiv cs.CV 2020
Year: 2020

Understanding the relationship between figures and text is key to scientific document understanding. Medical figures in particular are quite complex, often consisting of several subfigures (75% of figures in our dataset), with detailed text describing their content. Previous work studying figures in scientific papers focused on classifying figure content rather than understanding how images relate to the text. To address challenges in figure retrieval and figure-to-text alignment, we introduce MedICaT, a dataset of medical images in context. MedICaT consists of 217K images from 131K open access biomedical papers, and includes captions, inline references for 74% of figures, and manually annotated subfigures and subcaptions for a subset of figures. Using MedICaT, we introduce the task of subfigure to subcaption alignment in compound figures and demonstrate the utility of inline references in image-text matching. Our data and code can be accessed at https://github.com/allenai/medicat.
A Reliable Link-adaptive Position-based Routing Protocol for Flying Ad hoc Network
Venue: arXiv cs.NI 2020
Year: 2020

Flying ad hoc network (FANET) provides portable and flexible communication for many applications and possesses several unique design challenges; a key one is the successful delivery of messages to the destination, reliably. For reliable communication, routing plays an important role, which establishes a path between source and destination on the basis of certain criteria. Conventional routing protocols of FANET generally use a minimum hop count criterion to find the best route between source and destination, which results in lower latency with the consideration that there is single source/destination network environment. However, in a network with multiple sources, the minimum hop count routing criterion along with the 1-Hop HELLO messages broadcasted by each node in the network may deteriorate the network performance in terms of high End-to-End (ETE) delay and decrease in the lifetime of the network. This research work proposes a Reliable link-adaptive position-based routing protocol (RLPR) for FANET. It uses relative speed, signal strength, and energy of the nodes along with the geographic distance towards the destination using a forwarding angle. This angle is used to determine the forwarding zone that decreases the undesirable control messages in the network in order to discover the route. RLPR enhances the network performance by selecting those relay nodes which are in the forwarding zone and whose geographic movement is towards the destination. Additionally, RLPR selects the next hop with better energy level and uses signal strength and relative speed of the nodes to achieve high connectivity-level. Based on the performance evaluation performed in the Network simulator (ns-2.35), it has been analysed that RLPR outperforms the Robust and reliable predictive based routing (RARP) and Ad hoc on-demand distance vector (AODV) protocols in different scenarios.
Machine Learning for Material Characterization with an Application for Predicting Mechanical Properties
Venue: arXiv cs.LG 2020
Year: 2020

Currently, the growth of material data from experiments and simulations is expanding beyond processable amounts. This makes the development of new data-driven methods for the discovery of patterns among multiple lengthscales and time-scales and structure-property relationships essential. These data-driven approaches show enormous promise within materials science. The following review covers machine learning applications for metallic material characterization. Many parameters associated with the processing and the structure of materials affect the properties and the performance of manufactured components. Thus, this study is an attempt to investigate the usefulness of machine learning methods for material property prediction. Material characteristics such as strength, toughness, hardness, brittleness or ductility are relevant to categorize a material or component according to their quality. In industry, material tests like tensile tests, compression tests or creep tests are often time consuming and expensive to perform. Therefore, the application of machine learning approaches is considered helpful for an easier generation of material property information. This study also gives an application of machine learning methods on small punch test data for the determination of the property ultimate tensile strength for various materials. A strong correlation between small punch test data and tensile test data was found which ultimately allows to replace more costly tests by simple and fast tests in combination with machine learning.
Implementation of a neural network for non-linearities estimation in a tail-sitter aircraft
Venue: arXiv cs.AI 2020
Year: 2020

The control of a tail-sitter aircraft is a challenging task, especially during transition maneuver where the lift and drag forces are highly nonlinear. In this work, we implement a Neural Network (NN) capable of estimate such nonlinearities. Once they are estimated, one can propose a control scheme where these forces can correctly feed-forwarded. Our implementation of the NN has been programmed in C++ on the PX4 Autopilot an open-source autopilot for drones. To ensure that this implementation does not considerably affect the autopilot's performance, the coded NN must be of a light computational load. With the aim to test our approach, we have carried out a series of realistic simulations in the Software in The Loop (SITL) using the PX4 Autopilot. These experiments demonstrate that the implemented NN can be used to estimate the tail-sitter aerodynamic forces, and can be used to improve the control algorithms during all the flight phases of the tail-sitter aircraft: hover, cruise flight, and transition.
Zero-shot Entity Linking with Efficient Long Range Sequence Modeling
Venue: arXiv cs.CL 2020
Year: 2020

This paper considers the problem of zero-shot entity linking, in which a link in the test time may not present in training. Following the prevailing BERT-based research efforts, we find a simple yet effective way is to expand the long-range sequence modeling. Unlike many previous methods, our method does not require expensive pre-training of BERT with long position embedding. Instead, we propose an efficient position embeddings initialization method called Embedding-repeat, which initializes larger position embeddings based on BERT-Base. On Wikia's zero-shot EL dataset, our method improves the SOTA from 76.06% to 79.08%, and for its long data, the corresponding improvement is from 74.57% to 82.14%. Our experiments suggest the effectiveness of long-range sequence modeling without retraining the BERT model.
When HLS Meets FPGA HBM: Benchmarking and Bandwidth Optimization
Venue: arXiv cs.AR 2020
Year: 2020

With the recent release of High Bandwidth Memory (HBM) based FPGA boards, developers can now exploit unprecedented external memory bandwidth. This allows more memory-bounded applications to benefit from FPGA acceleration. However, we found that it is not easy to fully utilize the available bandwidth when developing some applications with high-level synthesis (HLS) tools. This is due to the limitation of existing HLS tools when accessing HBM board's large number of independent external memory channels. In this paper, we measure the performance of three recent representative HBM FPGA boards (Intel's Stratix 10 MX and Xilinx's Alveo U50/U280 boards) with microbenchmarks and analyze the HLS overhead. Next, we propose HLS-based optimization techniques to improve the effective bandwidth when a PE accesses multiple HBM channels or multiple PEs access an HBM channel. Our experiment demonstrates that the effective bandwidth improves by 2.4X-3.8X. We also provide a list of insights for future improvement of the HBM FPGA HLS design flow.
Accelerating the Development of Multimodal, Integrative-AI Systems with Platform for Situated Intelligence
Venue: arXiv cs.AI 2020
Year: 2020

We describe Platform for Situated Intelligence, an open-source framework for multimodal, integrative-AI systems. The framework provides infrastructure, tools, and components that enable and accelerate the development of applications that process multimodal streams of data and in which timing is critical. The framework is particularly well-suited for developing physically situated interactive systems that perceive and reason about their surroundings in order to better interact with people, such as social robots, virtual assistants, smart meeting rooms, etc. In this paper, we provide a brief, high-level overview of the framework and its main affordances, and discuss its implications for HRI.
FaiR-N: Fair and Robust Neural Networks for Structured Data
Venue: arXiv cs.LG 2020
Year: 2020

Fairness in machine learning is crucial when individuals are subject to automated decisions made by models in high-stake domains. Organizations that employ these models may also need to satisfy regulations that promote responsible and ethical A.I. While fairness metrics relying on comparing model error rates across subpopulations have been widely investigated for the detection and mitigation of bias, fairness in terms of the equalized ability to achieve recourse for different protected attribute groups has been relatively unexplored. We present a novel formulation for training neural networks that considers the distance of data points to the decision boundary such that the new objective: (1) reduces the average distance to the decision boundary between two groups for individuals subject to a negative outcome in each group, i.e. the network is more fair with respect to the ability to obtain recourse, and (2) increases the average distance of data points to the boundary to promote adversarial robustness. We demonstrate that training with this loss yields more fair and robust neural networks with similar accuracies to models trained without it. Moreover, we qualitatively motivate and empirically show that reducing recourse disparity across groups also improves fairness measures that rely on error rates. To the best of our knowledge, this is the first time that recourse capabilities across groups are considered to train fairer neural networks, and a relation between error rates based fairness and recourse based fairness is investigated.
Supertagging Combinatory Categorial Grammar with Attentive Graph Convolutional Networks
Venue: arXiv cs.CL 2020
Year: 2020

Supertagging is conventionally regarded as an important task for combinatory categorial grammar (CCG) parsing, where effective modeling of contextual information is highly important to this task. However, existing studies have made limited efforts to leverage contextual features except for applying powerful encoders (e.g., bi-LSTM). In this paper, we propose attentive graph convolutional networks to enhance neural CCG supertagging through a novel solution of leveraging contextual information. Specifically, we build the graph from chunks (n-grams) extracted from a lexicon and apply attention over the graph, so that different word pairs from the contexts within and across chunks are weighted in the model and facilitate the supertagging accordingly. The experiments performed on the CCGbank demonstrate that our approach outperforms all previous studies in terms of both supertagging and parsing. Further analyses illustrate the effectiveness of each component in our approach to discriminatively learn from word pairs to enhance CCG supertagging.
When Wireless Communications Meet Computer Vision in Beyond 5G
Venue: arXiv cs.CV 2020
Year: 2020

This article articulates the emerging paradigm, sitting at the confluence of computer vision and wireless communication, to enable beyond-5G/6G mission-critical applications (autonomous/remote-controlled vehicles, visuo-haptic VR, and other cyber-physical applications). First, drawing on recent advances in machine learning and the availability of non-RF data, vision-aided wireless networks are shown to significantly enhance the reliability of wireless communication without sacrificing spectral efficiency. In particular, we demonstrate how computer vision enables {look-ahead} prediction in a millimeter-wave channel blockage scenario, before the blockage actually happens. From a computer vision perspective, we highlight how radio frequency (RF) based sensing and imaging are instrumental in robustifying computer vision applications against occlusion and failure. This is corroborated via an RF-based image reconstruction use case, showcasing a receiver-side image failure correction resulting in reduced retransmission and latency. Taken together, this article sheds light on the much-needed convergence of RF and non-RF modalities to enable ultra-reliable communication and truly intelligent 6G networks.
End-to-end Triplet Loss based Emotion Embedding System for Speech Emotion Recognition
Venue: arXiv cs.SD 2020
Year: 2020

In this paper, an end-to-end neural embedding system based on triplet loss and residual learning has been proposed for speech emotion recognition. The proposed system learns the embeddings from the emotional information of the speech utterances. The learned embeddings are used to recognize the emotions portrayed by given speech samples of various lengths. The proposed system implements Residual Neural Network architecture. It is trained using softmax pre-training and triplet loss function. The weights between the fully connected and embedding layers of the trained network are used to calculate the embedding values. The embedding representations of various emotions are mapped onto a hyperplane, and the angles among them are computed using the cosine similarity. These angles are utilized to classify a new speech sample into its appropriate emotion class. The proposed system has demonstrated 91.67% and 64.44% accuracy while recognizing emotions for RAVDESS and IEMOCAP dataset, respectively.
New Formulas of Feedback Capacity for AGN Channels with Memory: A Time-Domain Sufficient Statistic Approach
Venue: arXiv cs.IT 2020
Year: 2020

In the recent paper [1] it is shown, via an application example, that the Cover and Pombra [2] "characterization of the $n-$block or transmission" feedback capacity formula, of additive Gaussian noise (AGN) channels, is the subject of much confusion in the literature, with redundant incorrect results. The main objective of this paper is to clarify the main points of confusion and remove any further ambiguity. The first part of the paper applies time-domain methods, to derive for a first time, equivalent sequential characterizations of the Cover and Pombra characterization of feedback capacity of AGN channels driven by nonstationary and nonergodic Gaussian noise. The optimal channel input processes of the new equivalent sequential characterizations are expressed as functionals of a sufficient statistic and a Gaussian orthogonal innovations process. From the new representations follows that the Cover and Pombra $n-$block capacity formula is expressed as a functional of two generalized matrix difference Riccati equations (DRE) of filtering theory of Gaussian systems, contrary to results that appeared in the literature. In the second part of the paper the existence of the asymptotic limit of the $n-$block feedback capacity formula is shown to be equivalent to the convergence properties of solutions of the two generalized DREs. Further, necessary and or sufficient conditions are identified for existence of the asymptotic limits, for stable and unstable Gaussian noise, when the optimal input distributions are time-invariant, but not necessarily stationary. The paper contains an in depth analysis, with examples, of the specific technical issues, which are overlooked in past literature [3-7], that studied the AGN channel of [2], for stationary noises.
A variational autoencoder for music generation controlled by tonal tension
Venue: arXiv cs.SD 2020
Year: 2020

Many of the music generation systems based on neural networks are fully autonomous and do not offer control over the generation process. In this research, we present a controllable music generation system in terms of tonal tension. We incorporate two tonal tension measures based on the Spiral Array Tension theory into a variational autoencoder model. This allows us to control the direction of the tonal tension throughout the generated piece, as well as the overall level of tonal tension. Given a seed musical fragment, stemming from either the user input or from directly sampling from the latent space, the model can generate variations of this original seed fragment with altered tonal tension. This altered music still resembles the seed music rhythmically, but the pitch of the notes are changed to match the desired tonal tension as conditioned by the user.
Regret minimization in stochastic non-convex learning via a proximal-gradient approach
Venue: arXiv cs.LG 2020
Year: 2020

Motivated by applications in machine learning and operations research, we study regret minimization with stochastic first-order oracle feedback in online constrained, and possibly non-smooth, non-convex problems. In this setting, the minimization of external regret is beyond reach for first-order methods, so we focus on a local regret measure defined via a proximal-gradient mapping. To achieve no (local) regret in this setting, we develop a prox-grad method based on stochastic first-order feedback, and a simpler method for when access to a perfect first-order oracle is possible. Both methods are min-max order-optimal, and we also establish a bound on the number of prox-grad queries these methods require. As an important application of our results, we also obtain a link between online and offline non-convex stochastic optimization manifested as a new prox-grad scheme with complexity guarantees matching those obtained via variance reduction techniques.
Microsecond Consensus for Microsecond Applications
Venue: arXiv cs.DC 2020
Year: 2020

We consider the problem of making apps fault-tolerant through replication, when apps operate at the microsecond scale, as in finance, embedded computing, and microservices apps. These apps need a replication scheme that also operates at the microsecond scale, otherwise replication becomes a burden. We propose Mu, a system that takes less than 1.3 microseconds to replicate a (small) request in memory, and less than a millisecond to fail-over the system - this cuts the replication and fail-over latencies of the prior systems by at least 61% and 90%. Mu implements bona fide state machine replication/consensus (SMR) with strong consistency for a generic app, but it really shines on microsecond apps, where even the smallest overhead is significant. To provide this performance, Mu introduces a new SMR protocol that carefully leverages RDMA. Roughly, in Mu a leader replicates a request by simply writing it directly to the log of other replicas using RDMA, without any additional communication. Doing so, however, introduces the challenge of handling concurrent leaders, changing leaders, garbage collecting the logs, and more - challenges that we address in this paper through a judicious combination of RDMA permissions and distributed algorithmic design. We implemented Mu and used it to replicate several systems: a financial exchange app called Liquibook, Redis, Memcached, and HERD. Our evaluation shows that Mu incurs a small replication latency, in some cases being the only viable replication system that incurs an acceptable overhead.
Cross-Supervised Joint-Event-Extraction with Heterogeneous Information Networks
Venue: arXiv cs.CL 2020
Year: 2020

Joint-event-extraction, which extracts structural information (i.e., entities or triggers of events) from unstructured real-world corpora, has attracted more and more research attention in natural language processing. Most existing works do not fully address the sparse co-occurrence relationships between entities and triggers, which loses this important information and thus deteriorates the extraction performance. To mitigate this issue, we first define the joint-event-extraction as a sequence-to-sequence labeling task with a tag set composed of tags of triggers and entities. Then, to incorporate the missing information in the aforementioned co-occurrence relationships, we propose a Cross-Supervised Mechanism (CSM) to alternately supervise the extraction of either triggers or entities based on the type distribution of each other. Moreover, since the connected entities and triggers naturally form a heterogeneous information network (HIN), we leverage the latent pattern along meta-paths for a given corpus to further improve the performance of our proposed method. To verify the effectiveness of our proposed method, we conduct extensive experiments on four real-world datasets as well as compare our method with state-of-the-art methods. Empirical results and analysis show that our approach outperforms the state-of-the-art methods in both entity and trigger extraction.