OpenRaiser/Intern-Atlas huggingface dataset:
VR-Caps: A Virtual Environment for Capsule Endoscopy
Venue: arXiv cs.CV 2021
Year: 2021

Current capsule endoscopes and next-generation robotic capsules for diagnosis and treatment of gastrointestinal diseases are complex cyber-physical platforms that must orchestrate complex software and hardware functions. The desired tasks for these systems include visual localization, depth estimation, 3D mapping, disease detection and segmentation, automated navigation, active control, path realization and optional therapeutic modules such as targeted drug delivery and biopsy sampling. Data-driven algorithms promise to enable many advanced functionalities for capsule endoscopes, but real-world data is challenging to obtain. Physically-realistic simulations providing synthetic data have emerged as a solution to the development of data-driven algorithms. In this work, we present a comprehensive simulation platform for capsule endoscopy operations and introduce VR-Caps, a virtual active capsule environment that simulates a range of normal and abnormal tissue conditions (e.g., inflated, dry, wet etc.) and varied organ types, capsule endoscope designs (e.g., mono, stereo, dual and 360°camera), and the type, number, strength, and placement of internal and external magnetic sources that enable active locomotion. VR-Caps makes it possible to both independently or jointly develop, optimize, and test medical imaging and analysis software for the current and next-generation endoscopic capsule systems. To validate this approach, we train state-of-the-art deep neural networks to accomplish various medical image analysis tasks using simulated data from VR-Caps and evaluate the performance of these models on real medical data. Results demonstrate the usefulness and effectiveness of the proposed virtual platform in developing algorithms that quantify fractional coverage, camera trajectory, 3D map reconstruction, and disease classification.
Sharp finite-sample concentration of independent variables
Venue: arXiv cs.LG 2021
Year: 2021

We show an extension of Sanov's theorem on large deviations, controlling the tail probabilities of i.i.d. random variables with matching concentration and anti-concentration bounds. This result has a general scope, applies to samples of any size, and has a short information-theoretic proof using elementary techniques.
Self-supervised Video Representation Learning by Uncovering Spatio-temporal Statistics
Venue: arXiv cs.CV 2021
Year: 2021

This paper proposes a novel pretext task to address the self-supervised video representation learning problem. Specifically, given an unlabeled video clip, we compute a series of spatio-temporal statistical summaries, such as the spatial location and dominant direction of the largest motion, the spatial location and dominant color of the largest color diversity along the temporal axis, etc. Then a neural network is built and trained to yield the statistical summaries given the video frames as inputs. In order to alleviate the learning difficulty, we employ several spatial partitioning patterns to encode rough spatial locations instead of exact spatial Cartesian coordinates. Our approach is inspired by the observation that human visual system is sensitive to rapidly changing contents in the visual field, and only needs impressions about rough spatial locations to understand the visual contents. To validate the effectiveness of the proposed approach, we conduct extensive experiments with four 3D backbone networks, i.e., C3D, 3D-ResNet, R(2+1)D and S3D-G. The results show that our approach outperforms the existing approaches across these backbone networks on four downstream video analysis tasks including action recognition, video retrieval, dynamic scene recognition, and action similarity labeling. The source code is publicly available at: https://github.com/laura-wang/video_repres_sts.
Biased Opinion Dynamics: When the Devil Is in the Details
Venue: arXiv cs.MA 2021
Year: 2021

We investigate opinion dynamics in multi-agent networks when a bias toward one of two possible opinions exists; for example, reflecting a status quo vs a superior alternative. Starting with all agents sharing an initial opinion representing the status quo, the system evolves in steps. In each step, one agent selected uniformly at random adopts the superior opinion with some probability $α$, and with probability $1 - α$ it follows an underlying update rule to revise its opinion on the basis of those held by its neighbors. We analyze convergence of the resulting process under two well-known update rules, namely majority and voter. The framework we propose exhibits a rich structure, with a non-obvious interplay between topology and underlying update rule. For example, for the voter rule we show that the speed of convergence bears no significant dependence on the underlying topology, whereas the picture changes completely under the majority rule, where network density negatively affects convergence. We believe that the model we propose is at the same time simple, rich, and modular, affording mathematical characterization of the interplay between bias, underlying opinion dynamics, and social structure in a unified setting.
Deciding SHACL Shape Containment through Description Logics Reasoning (Extended Version)
Venue: arXiv cs.LO 2021
Year: 2021

The Shapes Constraint Language (SHACL) allows for formalizing constraints over RDF data graphs. A shape groups a set of constraints that may be fulfilled by nodes in the RDF graph. We investigate the problem of containment between SHACL shapes. One shape is contained in a second shape if every graph node meeting the constraints of the first shape also meets the constraints of the second. To decide shape containment, we map SHACL shape graphs into description logic axioms such that shape containment can be answered by description logic reasoning. We identify several, increasingly tight syntactic restrictions of SHACL for which this approach becomes sound and complete.
Machine Learning Clustering Techniques for Selective Mitigation of Critical Design Features
Venue: arXiv cs.AR 2021
Year: 2021

Selective mitigation or selective hardening is an effective technique to obtain a good trade-off between the improvements in the overall reliability of a circuit and the hardware overhead induced by the hardening techniques. Selective mitigation relies on preferentially protecting circuit instances according to their susceptibility and criticality. However, ranking circuit parts in terms of vulnerability usually requires computationally intensive fault-injection simulation campaigns. This paper presents a new methodology which uses machine learning clustering techniques to group flip-flops with similar expected contributions to the overall functional failure rate, based on the analysis of a compact set of features combining attributes from static elements and dynamic elements. Fault simulation campaigns can then be executed on a per-group basis, significantly reducing the time and cost of the evaluation. The effectiveness of grouping similar sensitive flip-flops by machine learning clustering algorithms is evaluated on a practical example.Different clustering algorithms are applied and the results are compared to an ideal selective mitigation obtained by exhaustive fault-injection simulation.
Theodolite: Scalability Benchmarking of Distributed Stream Processing Engines in Microservice Architectures
Venue: arXiv cs.SE 2021
Year: 2021

Distributed stream processing engines are designed with a focus on scalability to process big data volumes in a continuous manner. We present the Theodolite method for benchmarking the scalability of distributed stream processing engines. Core of this method is the definition of use cases that microservices implementing stream processing have to fulfill. For each use case, our method identifies relevant workload dimensions that might affect the scalability of a use case. We propose to design one benchmark per use case and relevant workload dimension. We present a general benchmarking framework, which can be applied to execute the individual benchmarks for a given use case and workload dimension. Our framework executes an implementation of the use case's dataflow architecture for different workloads of the given dimension and various numbers of processing instances. This way, it identifies how resources demand evolves with increasing workloads. Within the scope of this paper, we present 4 identified use cases, derived from processing Industrial Internet of Things data, and 7 corresponding workload dimensions. We provide implementations of 4 benchmarks with Kafka Streams and Apache Flink as well as an implementation of our benchmarking framework to execute scalability benchmarks in cloud environments. We use both for evaluating the Theodolite method and for benchmarking Kafka Streams' and Flink's scalability for different deployment options.
A Concentration of Measure Approach to Correlated Graph Matching
Venue: arXiv cs.IT 2021
Year: 2021

The graph matching problem emerges naturally in various applications such as web privacy, image processing and computational biology. In this paper, graph matching is considered under a stochastic model, where a pair of randomly generated graphs with pairwise correlated edges are to be matched such that given the labeling of the vertices in the first graph, the labels in the second graph are recovered by leveraging the correlation among their edges. The problem is considered under various settings and graph models. In the first step, the Correlated Erdös-Rényi (CER) graph model is studied, where all edge pairs whose vertices have similar labels are generated based on identical distributions and independently of other edges. A matching scheme called the \textit{typicality matching scheme} is introduced. The scheme operates by investigating the joint typicality of the adjacency matrices of the two graphs. New results on the typicality of permutations of sequences lead to necessary and sufficient conditions for successful matching based on the parameters of the CER model. In the next step, the results are extended to graphs with community structure generated based on the Stochastic Block Model (SBM). The SBM model is a generalization of the CER model where each vertex in the graph is associated with a community label, which affects its edge statistics. The results are further extended to matching of ensembles of more than two correlated graphs. Lastly, the problem of seeded graph matching is investigated where a subset of the labels in the second graph are known prior to matching. In this scenario, in addition to obtaining necessary and sufficient conditions for successful matching, a polytime matching algorithm is proposed.
Data Anomaly Detection for Structural Health Monitoring of Bridges using Shapelet Transform
Venue: arXiv cs.LG 2021
Year: 2021

With the wider availability of sensor technology, a number of Structural Health Monitoring (SHM) systems are deployed to monitor civil infrastructure. The continuous monitoring provides valuable information about the structure that can help in providing a decision support system for retrofits and other structural modifications. However, when the sensors are exposed to harsh environmental conditions, the data measured by the SHM systems tend to be affected by multiple anomalies caused by faulty or broken sensors. Given a deluge of high-dimensional data collected continuously over time, research into using machine learning methods to detect anomalies are a topic of great interest to the SHM community. This paper contributes to this effort by proposing the use of a relatively new time series representation named Shapelet Transform in combination with a Random Forest classifier to autonomously identify anomalies in SHM data. The shapelet transform is a unique time series representation that is solely based on the shape of the time series data. In consideration of the individual characteristics unique to every anomaly, the application of this transform yields a new shape-based feature representation that can be combined with any standard machine learning algorithm to detect anomalous data with no manual intervention. For the present study, the anomaly detection framework consists of three steps: identifying unique shapes from anomalous data, using these shapes to transform the SHM data into a local-shape space and training machine learning algorithm on this transformed data to identify anomalies. The efficacy of this method is demonstrated by the identification of anomalies in acceleration data from a SHM system installed on a long-span bridge in China. The results show that multiple data anomalies in SHM data can be automatically detected with high accuracy using the proposed method.
Flightmare: A Flexible Quadrotor Simulator
Venue: arXiv cs.RO 2021
Year: 2021

State-of-the-art quadrotor simulators have a rigid and highly-specialized structure: either are they really fast, physically accurate, or photo-realistic. In this work, we propose a novel quadrotor simulator: Flightmare. Flightmare is composed of two main components: a configurable rendering engine built on Unity and a flexible physics engine for dynamics simulation. Those two components are totally decoupled and can run independently of each other. This makes our simulator extremely fast: rendering achieves speeds of up to 230 Hz, while physics simulation of up to 200,000 Hz on a laptop. In addition, Flightmare comes with several desirable features: (i) a large multi-modal sensor suite, including an interface to extract the 3D point-cloud of the scene; (ii) an API for reinforcement learning which can simulate hundreds of quadrotors in parallel; and (iii) integration with a virtual-reality headset for interaction with the simulated environment. We demonstrate the flexibility of Flightmare by using it for two different robotic tasks: quadrotor control using deep reinforcement learning and collision-free path planning in a complex 3D environment.
AI solutions for drafting in Magic: the Gathering
Venue: arXiv cs.AI 2021
Year: 2021

Drafting in Magic the Gathering is a sub-game within a larger trading card game, where several players progressively build decks by picking cards from a common pool. Drafting poses an interesting problem for game and AI research due to its large search space, mechanical complexity, multiplayer nature, and hidden information. Despite this, drafting remains understudied, in part due to a lack of high-quality, public datasets. To rectify this problem, we present a dataset of over 100,000 simulated, anonymized human drafts collected from Draftsim.com. We also propose four diverse strategies for drafting agents, including a primitive heuristic agent, an expert-tuned complex heuristic agent, a Naive Bayes agent, and a deep neural network agent. We benchmark their ability to emulate human drafting, and show that the deep neural network agent outperforms other agents, while the Naive Bayes and expert-tuned agents outperform simple heuristics. We analyze the accuracy of AI agents across the timeline of a draft, and describe unique strengths and weaknesses for each approach. This work helps to identify next steps in the creation of humanlike drafting agents, and can serve as a benchmark for the next generation of drafting bots.
A Survey on Blockchain for Big Data: Approaches, Opportunities, and Future Directions
Venue: arXiv cs.CR 2021
Year: 2021

Big data has generated strong interest in various scientific and engineering domains over the last few years. Despite many advantages and applications, there are many challenges in big data to be tackled for better quality of service, e.g., big data analytics, big data management, and big data privacy and security. Blockchain with its decentralization and security nature has the great potential to improve big data services and applications. In this article, we provide a comprehensive survey on blockchain for big data, focusing on up-to-date approaches, opportunities, and future directions. First, we present a brief overview of blockchain and big data as well as the motivation behind their integration. Next, we survey various blockchain services for big data, including blockchain for secure big data acquisition, data storage, data analytics, and data privacy preservation. Then, we review the state-of-the-art studies on the use of blockchain for big data applications in different vertical domains such as smart city, smart healthcare, smart transportation, and smart grid. For a better understanding, some representative blockchain-big data projects are also presented and analyzed. Finally, challenges and future directions are discussed to further drive research in this promising area.
covid19.analytics: An R Package to Obtain, Analyze and Visualize Data from the Coronavirus Disease Pandemic
Venue: arXiv cs.CY 2021
Year: 2021

With the emergence of a new pandemic worldwide, a novel strategy to approach it has emerged. Several initiatives under the umbrella of "open science" are contributing to tackle this unprecedented situation. In particular, the "R Language and Environment for Statistical Computing" offers an excellent tool and ecosystem for approaches focusing on open science and reproducible results. Hence it is not surprising that with the onset of the pandemic, a large number of R packages and resources were made available for researches working in the pandemic. In this paper, we present an R package that allows users to access and analyze worldwide data from resources publicly available. We will introduce the covid19.analytics package, focusing in its capabilities and presenting a particular study case where we describe how to deploy the "COVID19.ANALYTICS Dashboard Explorer".
Face Image Quality Assessment: A Literature Survey
Venue: arXiv cs.CV 2021
Year: 2021

The performance of face analysis and recognition systems depends on the quality of the acquired face data, which is influenced by numerous factors. Automatically assessing the quality of face data in terms of biometric utility can thus be useful to detect low-quality data and make decisions accordingly. This survey provides an overview of the face image quality assessment literature, which predominantly focuses on visible wavelength face image input. A trend towards deep learning based methods is observed, including notable conceptual differences among the recent approaches, such as the integration of quality assessment into face recognition models. Besides image selection, face image quality assessment can also be used in a variety of other application scenarios, which are discussed herein. Open issues and challenges are pointed out, i.a. highlighting the importance of comparability for algorithm evaluations, and the challenge for future work to create deep learning approaches that are interpretable in addition to providing accurate utility predictions.
Local-HDP: Interactive Open-Ended 3D Object Categorization in Real-Time Robotic Scenarios
Venue: arXiv cs.CV 2021
Year: 2021

We introduce a non-parametric hierarchical Bayesian approach for open-ended 3D object categorization, named the Local Hierarchical Dirichlet Process (Local-HDP). This method allows an agent to learn independent topics for each category incrementally and to adapt to the environment in time. Hierarchical Bayesian approaches like Latent Dirichlet Allocation (LDA) can transform low-level features to high-level conceptual topics for 3D object categorization. However, the efficiency and accuracy of LDA-based approaches depend on the number of topics that is chosen manually. Moreover, fixing the number of topics for all categories can lead to overfitting or underfitting of the model. In contrast, the proposed Local-HDP can autonomously determine the number of topics for each category. Furthermore, the online variational inference method has been adapted for fast posterior approximation in the Local-HDP model. Experiments show that the proposed Local-HDP method outperforms other state-of-the-art approaches in terms of accuracy, scalability, and memory efficiency by a large margin. Moreover, two robotic experiments have been conducted to show the applicability of the proposed approach in real-time applications.
Nonholonomic Yaw Control of an Underactuated Flying Robot with Model-based Reinforcement Learning
Venue: arXiv cs.RO 2021
Year: 2021

Nonholonomic control is a candidate to control nonlinear systems with path-dependant states. We investigate an underactuated flying micro-aerial-vehicle, the ionocraft, that requires nonholonomic control in the yaw-direction for complete attitude control. Deploying an analytical control law involves substantial engineering design and is sensitive to inaccuracy in the system model. With specific assumptions on assembly and system dynamics, we derive a Lie bracket for yaw control of the ionocraft. As a comparison to the significant engineering effort required for an analytic control law, we implement a data-driven model-based reinforcement learning yaw controller in a simulated flight task. We demonstrate that a simple model-based reinforcement learning framework can match the derived Lie bracket control (in yaw rate and chosen actions) in a few minutes of flight data, without a pre-defined dynamics function. This paper shows that learning-based approaches are useful as a tool for synthesis of nonlinear control laws previously only addressable through expert-based design.
Cost-aware Feature Selection for IoT Device Classification
Venue: arXiv cs.NI 2021
Year: 2021

Classification of IoT devices into different types is of paramount importance, from multiple perspectives, including security and privacy aspects. Recent works have explored machine learning techniques for fingerprinting (or classifying) IoT devices, with promising results. However, existing works have assumed that the features used for building the machine learning models are readily available or can be easily extracted from the network traffic; in other words, they do not consider the costs associated with feature extraction. In this work, we take a more realistic approach, and argue that feature extraction has a cost, and the costs are different for different features. We also take a step forward from the current practice of considering the misclassification loss as a binary value, and make a case for different losses based on the misclassification performance. Thereby, and more importantly, we introduce the notion of risk for IoT device classification. We define and formulate the problem of cost-aware IoT device classification. This being a combinatorial optimization problem, we develop a novel algorithm to solve it in a fast and effective way using the Cross-Entropy (CE) based stochastic optimization technique. Using traffic of real devices, we demonstrate the capability of the CE based algorithm in selecting features with minimal risk of misclassification while keeping the cost for feature extraction within a specified limit.