OpenRaiser/Intern-Atlas huggingface dataset:
Learning Human-Robot Collaboration Insights through the Integration of Muscle Activity in Interaction Motion Models
Venue: arXiv cs.RO 2017
Year: 2017

Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories through motion capture systems. However, such representation does not properly model tasks where similar motions handle different objects. Under current approaches, a robot would not adapt its pose and dynamics for proper handling. We integrate the use of Electromyography (EMG) into the Interaction ProMP framework and utilize muscular signals to augment the human observation representation. The contribution of our paper is increased task discernment when trajectories are similar but tools are different and require the robot to adjust its pose for proper handling. Interaction ProMPs are used with an augmented vector that integrates muscle activity. Augmented time-normalized trajectories are used in training to learn correlation parameters and robot motions are predicted by finding the best weight combination and temporal scaling for a task. Collaborative single task scenarios with similar motions but different objects were used and compared. For one experiment only joint angles were recorded, for the other EMG signals were additionally integrated. Task recognition was computed for both tasks. Observation state vectors with augmented EMG signals were able to completely identify differences across tasks, while the baseline method failed every time. Integrating EMG signals into collaborative tasks significantly increases the ability of the system to recognize nuances in the tasks that are otherwise imperceptible, up to 74.6% in our studies. Furthermore, the integration of EMG signals for collaboration also opens the door to a wide class of human-robot physical interactions based on haptic communication that has been largely unexploited in the field.
Towards a Concurrent and Distributed Route Selection for Payment Channel Networks
Venue: arXiv cs.NI 2017
Year: 2017

Payment channel networks use off-chain transactions to provide virtually arbitrary transaction rates. In this paper, we provide a new perspective on payment channels and consider them as a flow network. We propose an extended push-relabel algorithm to find payment flows in a payment channel network. Our algorithm enables a distributed and concurrent execution without violating capacity constraints. To this end, we introduce the concept of capacity locking. We prove that flows are valid and present first results.
An Unsupervised Game-Theoretic Approach to Saliency Detection
Venue: arXiv cs.CV 2017
Year: 2017

We propose a novel unsupervised game-theoretic salient object detection algorithm that does not require labeled training data. First, saliency detection problem is formulated as a non-cooperative game, hereinafter referred to as Saliency Game, in which image regions are players who choose to be "background" or "foreground" as their pure strategies. A payoff function is constructed by exploiting multiple cues and combining complementary features. Saliency maps are generated according to each region's strategy in the Nash equilibrium of the proposed Saliency Game. Second, we explore the complementary relationship between color and deep features and propose an Iterative Random Walk algorithm to combine saliency maps produced by the Saliency Game using different features. Iterative random walk allows sharing information across feature spaces, and detecting objects that are otherwise very hard to detect. Extensive experiments over 6 challenging datasets demonstrate the superiority of our proposed unsupervised algorithm compared to several state of the art supervised algorithms.
From Deterministic to Generative: Multi-Modal Stochastic RNNs for Video Captioning
Venue: arXiv cs.CV 2017
Year: 2017

Video captioning in essential is a complex natural process, which is affected by various uncertainties stemming from video content, subjective judgment, etc. In this paper we build on the recent progress in using encoder-decoder framework for video captioning and address what we find to be a critical deficiency of the existing methods, that most of the decoders propagate deterministic hidden states. Such complex uncertainty cannot be modeled efficiently by the deterministic models. In this paper, we propose a generative approach, referred to as multi-modal stochastic RNNs networks (MS-RNN), which models the uncertainty observed in the data using latent stochastic variables. Therefore, MS-RNN can improve the performance of video captioning, and generate multiple sentences to describe a video considering different random factors. Specifically, a multi-modal LSTM (M-LSTM) is first proposed to interact with both visual and textual features to capture a high-level representation. Then, a backward stochastic LSTM (S-LSTM) is proposed to support uncertainty propagation by introducing latent variables. Experimental results on the challenging datasets MSVD and MSR-VTT show that our proposed MS-RNN approach outperforms the state-of-the-art video captioning benchmarks.
Impact of Mobility-on-Demand on Traffic Congestion: Simulation-based Study
Venue: arXiv cs.MA 2017
Year: 2017

The increasing use of private vehicles for transportation in cities results in a growing demand for parking space and road network capacity. In many densely populated urban areas, however, the capacity of existing infrastructure is insufficient and extremely difficult to expand. Mobility-on-demand systems have been proposed as a remedy to the problem of limited parking space because they are able to satisfy the existing transportation demand with fewer shared vehicles and consequently require less parking space. Yet, the impact of large-scale vehicle sharing on traffic patterns is not well understood. In this work, we perform a simulation-based analysis of consequences of a hypothetical deployment of a large-scale station-based mobility-on-demand system in Prague and measure the traffic intensity generated by the system and its effects on the formation of congestion. We find that such a mobility-on-demand system would lead to significantly increased total driven distance and it would also increase levels of congestion due to extra trips without passengers. In fact, 38% kilometers traveled in such an MoD system would be driven empty.
Stochastic Optimization with Bandit Sampling
Venue: arXiv cs.LG 2017
Year: 2017

Many stochastic optimization algorithms work by estimating the gradient of the cost function on the fly by sampling datapoints uniformly at random from a training set. However, the estimator might have a large variance, which inadvertently slows down the convergence rate of the algorithms. One way to reduce this variance is to sample the datapoints from a carefully selected non-uniform distribution. In this work, we propose a novel non-uniform sampling approach that uses the multi-armed bandit framework. Theoretically, we show that our algorithm asymptotically approximates the optimal variance within a factor of 3. Empirically, we show that using this datapoint-selection technique results in a significant reduction in the convergence time and variance of several stochastic optimization algorithms such as SGD, SVRG and SAGA. This approach for sampling datapoints is general, and can be used in conjunction with any algorithm that uses an unbiased gradient estimation -- we expect it to have broad applicability beyond the specific examples explored in this work.
Neural-based Context Representation Learning for Dialog Act Classification
Venue: arXiv cs.CL 2017
Year: 2017

We explore context representation learning methods in neural-based models for dialog act classification. We propose and compare extensively different methods which combine recurrent neural network architectures and attention mechanisms (AMs) at different context levels. Our experimental results on two benchmark datasets show consistent improvements compared to the models without contextual information and reveal that the most suitable AM in the architecture depends on the nature of the dataset.
Belief Propagation, Bethe Approximation and Polynomials
Venue: arXiv cs.LG 2017
Year: 2017

Factor graphs are important models for succinctly representing probability distributions in machine learning, coding theory, and statistical physics. Several computational problems, such as computing marginals and partition functions, arise naturally when working with factor graphs. Belief propagation is a widely deployed iterative method for solving these problems. However, despite its significant empirical success, not much is known about the correctness and efficiency of belief propagation. Bethe approximation is an optimization-based framework for approximating partition functions. While it is known that the stationary points of the Bethe approximation coincide with the fixed points of belief propagation, in general, the relation between the Bethe approximation and the partition function is not well understood. It has been observed that for a few classes of factor graphs, the Bethe approximation always gives a lower bound to the partition function, which distinguishes them from the general case, where neither a lower bound, nor an upper bound holds universally. This has been rigorously proved for permanents and for attractive graphical models. Here we consider bipartite normal factor graphs and show that if the local constraints satisfy a certain analytic property, the Bethe approximation is a lower bound to the partition function. We arrive at this result by viewing factor graphs through the lens of polynomials. In this process, we reformulate the Bethe approximation as a polynomial optimization problem. Our sufficient condition for the lower bound property to hold is inspired by recent developments in the theory of real stable polynomials. We believe that this way of viewing factor graphs and its connection to real stability might lead to a better understanding of belief propagation and factor graphs in general.
Neural Network Dynamics for Model-Based Deep Reinforcement Learning with Model-Free Fine-Tuning
Venue: arXiv cs.LG 2017
Year: 2017

Model-free deep reinforcement learning algorithms have been shown to be capable of learning a wide range of robotic skills, but typically require a very large number of samples to achieve good performance. Model-based algorithms, in principle, can provide for much more efficient learning, but have proven difficult to extend to expressive, high-capacity models such as deep neural networks. In this work, we demonstrate that medium-sized neural network models can in fact be combined with model predictive control (MPC) to achieve excellent sample complexity in a model-based reinforcement learning algorithm, producing stable and plausible gaits to accomplish various complex locomotion tasks. We also propose using deep neural network dynamics models to initialize a model-free learner, in order to combine the sample efficiency of model-based approaches with the high task-specific performance of model-free methods. We empirically demonstrate on MuJoCo locomotion tasks that our pure model-based approach trained on just random action data can follow arbitrary trajectories with excellent sample efficiency, and that our hybrid algorithm can accelerate model-free learning on high-speed benchmark tasks, achieving sample efficiency gains of 3-5x on swimmer, cheetah, hopper, and ant agents. Videos can be found at https://sites.google.com/view/mbmf
Real Time Analytics: Algorithms and Systems
Venue: arXiv cs.DB 2017
Year: 2017

Velocity is one of the 4 Vs commonly used to characterize Big Data. In this regard, Forrester remarked the following in Q3 2014: "The high velocity, white-water flow of data from innumerable real-time data sources such as market data, Internet of Things, mobile, sensors, click-stream, and even transactions remain largely unnavigated by most firms. The opportunity to leverage streaming analytics has never been greater." Example use cases of streaming analytics include, but not limited to: (a) visualization of business metrics in real-time (b) facilitating highly personalized experiences (c) expediting response during emergencies. Streaming analytics is extensively used in a wide variety of domains such as healthcare, e-commerce, financial services, telecommunications, energy and utilities, manufacturing, government and transportation. In this tutorial, we shall present an in-depth overview of streaming analytics - applications, algorithms and platforms - landscape. We shall walk through how the field has evolved over the last decade and then discuss the current challenges - the impact of the other three Vs, viz., Volume, Variety and Veracity, on Big Data streaming analytics. The tutorial is intended for both researchers and practitioners in the industry. We shall also present state-of-the-affairs of streaming analytics at Twitter.
Learning Visual Importance for Graphic Designs and Data Visualizations
Venue: arXiv cs.HC 2017
Year: 2017

Knowing where people look and click on visual designs can provide clues about how the designs are perceived, and where the most important or relevant content lies. The most important content of a visual design can be used for effective summarization or to facilitate retrieval from a database. We present automated models that predict the relative importance of different elements in data visualizations and graphic designs. Our models are neural networks trained on human clicks and importance annotations on hundreds of designs. We collected a new dataset of crowdsourced importance, and analyzed the predictions of our models with respect to ground truth importance and human eye movements. We demonstrate how such predictions of importance can be used for automatic design retargeting and thumbnailing. User studies with hundreds of MTurk participants validate that, with limited post-processing, our importance-driven applications are on par with, or outperform, current state-of-the-art methods, including natural image saliency. We also provide a demonstration of how our importance predictions can be built into interactive design tools to offer immediate feedback during the design process.
Power packet transferability via symbol propagation matrix
Venue: arXiv cs.SY 2017
Year: 2017

Power packet is a unit of electric power transferred by a power pulse with an information tag. In Shannon's information theory, messages are represented by symbol sequences in a digitized manner. Referring to this formulation, we define symbols in power packetization as a minimum unit of power transferred by a tagged pulse. Here, power is digitized and quantized. In this paper, we consider packetized power in networks for a finite duration, giving symbols and their energies to the networks. A network structure is defined using a graph whose nodes represent routers, sources, and destinations. First, we introduce symbol propagation matrix (SPM) in which symbols are transferred at links during unit times. Packetized power is described as a network flow in a spatio-temporal structure. Then, we study the problem of selecting an SPM in terms of transferability, that is, the possibility to represent given energies at sources and destinations during the finite duration. To select an SPM, we consider a network flow problem of packetized power. The problem is formulated as an M-convex submodular flow problem which is known as generalization of the minimum cost flow problem and solvable. Finally, through examples, we verify that this formulation provides reasonable packetized power.
From Reversible Programs to Univalent Universes and Back
Venue: arXiv cs.PL 2017
Year: 2017

We establish a close connection between a reversible programming language based on type isomorphisms and a formally presented univalent universe. The correspondence relates combinators witnessing type isomorphisms in the programming language to paths in the univalent universe; and combinator optimizations in the programming language to 2-paths in the univalent universe. The result suggests a simple computational interpretation of paths and of univalence in terms of familiar programming constructs whenever the universe in question is computable.
An automatic water detection approach based on Dempster-Shafer theory for multi spectral images
Venue: arXiv cs.AI 2017
Year: 2017

Detection of surface water in natural environment via multi-spectral imagery has been widely utilized in many fields, such land cover identification. However, due to the similarity of the spectra of water bodies, built-up areas, approaches based on high-resolution satellites sometimes confuse these features. A popular direction to detect water is spectral index, often requiring the ground truth to find appropriate thresholds manually. As for traditional machine learning methods, they identify water merely via differences of spectra of various land covers, without taking specific properties of spectral reflection into account. In this paper, we propose an automatic approach to detect water bodies based on Dempster-Shafer theory, combining supervised learning with specific property of water in spectral band in a fully unsupervised context. The benefits of our approach are twofold. On the one hand, it performs well in mapping principle water bodies, including little streams and branches. On the other hand, it labels all objects usually confused with water as `ignorance', including half-dry watery areas, built-up areas and semi-transparent clouds and shadows. `Ignorance' indicates not only limitations of the spectral properties of water and supervised learning itself but insufficiency of information from multi-spectral bands as well, providing valuable information for further land cover classification.
Trade-Offs in Stochastic Event-Triggered Control
Venue: arXiv cs.SY 2017
Year: 2017

This paper studies the optimal output-feedback control of a linear time-invariant system where a stochastic event-based scheduler triggers the communication between the sensor and the controller. The primary goal of the use of this type of scheduling strategy is to provide significant reductions in the usage of the sensor-to-controller communication and, in turn, improve energy expenditure in the network. In this paper, we aim to design an admissible control policy, which is a function of the observed output, to minimize a quadratic cost function while employing a stochastic event-triggered scheduler that preserves the Gaussian property of the plant state and the estimation error. For the infinite horizon case, we present analytical expressions that quantify the trade-off between the communication cost and control performance of such event-triggered control systems. This trade-off is confirmed quantitatively via numerical examples.
Isointense infant brain MRI segmentation with a dilated convolutional neural network
Venue: arXiv cs.CV 2017
Year: 2017

Quantitative analysis of brain MRI at the age of 6 months is difficult because of the limited contrast between white matter and gray matter. In this study, we use a dilated triplanar convolutional neural network in combination with a non-dilated 3D convolutional neural network for the segmentation of white matter, gray matter and cerebrospinal fluid in infant brain MR images, as provided by the MICCAI grand challenge on 6-month infant brain MRI segmentation.
Ephemeral Context to Support Robust and Diverse Music Recommendations
Venue: arXiv cs.IR 2017
Year: 2017

While prior work on context-based music recommendation focused on fixed set of contexts (e.g. walking, driving, jogging), we propose to use multiple sensors and external data sources to describe momentary (ephemeral) context in a rich way with a very large number of possible states (e.g. jogging fast along in downtown of Sydney under a heavy rain at night being tired and angry). With our approach, we address the problems which current approaches face: 1) a limited ability to infer context from missing or faulty sensor data; 2) an inability to use contextual information to support novel content discovery.
On Maximum Common Subgraph Problems in Series-Parallel Graphs
Venue: arXiv cs.DS 2017
Year: 2017

The complexity of the maximum common connected subgraph problem in partial $k$-trees is still not fully understood. Polynomial-time solutions are known for degree-bounded outerplanar graphs, a subclass of the partial $2$-trees. On the other hand, the problem is known to be ${\bf NP}$-hard in vertex-labeled partial $11$-trees of bounded degree. We consider series-parallel graphs, i.e., partial $2$-trees. We show that the problem remains ${\bf NP}$-hard in biconnected series-parallel graphs with all but one vertex of degree $3$ or less. A positive complexity result is presented for a related problem of high practical relevance which asks for a maximum common connected subgraph that preserves blocks and bridges of the input graphs. We present a polynomial time algorithm for this problem in series-parallel graphs, which utilizes a combination of BC- and SP-tree data structures to decompose both graphs.
Decoupled Learning of Environment Characteristics for Safe Exploration
Venue: arXiv cs.AI 2017
Year: 2017

Reinforcement learning is a proven technique for an agent to learn a task. However, when learning a task using reinforcement learning, the agent cannot distinguish the characteristics of the environment from those of the task. This makes it harder to transfer skills between tasks in the same environment. Furthermore, this does not reduce risk when training for a new task. In this paper, we introduce an approach to decouple the environment characteristics from the task-specific ones, allowing an agent to develop a sense of survival. We evaluate our approach in an environment where an agent must learn a sequence of collection tasks, and show that decoupled learning allows for a safer utilization of prior knowledge.
Client-Side Routing-Agnostic Gateway Selection for heterogeneous Wireless Mesh Networks
Venue: arXiv cs.NI 2017
Year: 2017

Citizens develop Wireless Mesh Networks (WMN) in many areas as an alternative or their only way for local interconnection and access to the Internet. This access is often achieved through the use of several shared web proxy gateways. These network infrastructures consist of heterogeneous technologies and combine diverse routing protocols. Network-aware state-of-art proxy selection schemes for WMNs do not work in this heterogeneous environment. We developed a client-side gateway selection mechanism that optimizes the client-gateway selection, agnostic to underlying infrastructure and protocols, requiring no modification of proxies nor the underlying network. The choice is sensitive to network congestion and proxy load, without requiring a minimum number of participating nodes. Extended Vivaldi network coordinates are used to estimate client-proxy network performance. The load of each proxy is estimated passively by collecting the Time-to-First-Byte of HTTP requests, and shared across clients. Our proposal was evaluated experimentally with clients and proxies deployed in guifi.net, the largest community wireless network in the world. Our selection mechanism avoids proxies with heavy load and slow internal network paths, with overhead linear to the number of clients and proxies.