OpenRaiser/Intern-Atlas huggingface dataset:
Temporal Sequence Distillation: Towards Few-Frame Action Recognition in Videos
Venue: arXiv cs.CV 2018
Year: 2018

Video Analytics Software as a Service (VA SaaS) has been rapidly growing in recent years. VA SaaS is typically accessed by users using a lightweight client. Because the transmission bandwidth between the client and cloud is usually limited and expensive, it brings great benefits to design cloud video analysis algorithms with a limited data transmission requirement. Although considerable research has been devoted to video analysis, to our best knowledge, little of them has paid attention to the transmission bandwidth limitation in SaaS. As the first attempt in this direction, this work introduces a problem of few-frame action recognition, which aims at maintaining high recognition accuracy, when accessing only a few frames during both training and test. Unlike previous work that processed dense frames, we present Temporal Sequence Distillation (TSD), which distills a long video sequence into a very short one for transmission. By end-to-end training with 3D CNNs for video action recognition, TSD learns a compact and discriminative temporal and spatial representation of video frames. On Kinetics dataset, TSD+I3D typically requires only 50\% of the number of frames compared to I3D, a state-of-the-art video action recognition algorithm, to achieve almost the same accuracies. The proposed TSD has three appealing advantages. Firstly, TSD has a lightweight architecture and can be deployed in the client, eg. mobile devices, to produce compressed representative frames to save transmission bandwidth. Secondly, TSD significantly reduces the computations to run video action recognition with compressed frames on the cloud, while maintaining high recognition accuracies. Thirdly, TSD can be plugged in as a preprocessing module of any existing 3D CNNs. Extensive experiments show the effectiveness and characteristics of TSD.
Homeomorphic Embedding modulo Combinations of Associativity and Commutativity Axioms
Venue: arXiv cs.PL 2018
Year: 2018

The Homeomorphic Embedding relation has been amply used for defining termination criteria of symbolic methods for program analysis, transformation, and verification. However, homeomorphic embedding has never been investigated in the context of order-sorted rewrite theories that support symbolic execution methods modulo equational axioms. This paper generalizes the symbolic homeomorphic embedding relation to order-sorted rewrite theories that may contain various combinations of associativity and/or commutativity axioms for different binary operators. We systematically measure the performance of increasingly efficient formulations of the homeomorphic embedding relation modulo associativity and commutativity axioms. From our experimental results, we conclude that our most efficient version indeed pays off in practice.
Trust-based Multi-Robot Symbolic Motion Planning with a Human-in-the-Loop
Venue: arXiv cs.RO 2018
Year: 2018

Symbolic motion planning for robots is the process of specifying and planning robot tasks in a discrete space, then carrying them out in a continuous space in a manner that preserves the discrete-level task specifications. Despite progress in symbolic motion planning, many challenges remain, including addressing scalability for multi-robot systems and improving solutions by incorporating human intelligence. In this paper, distributed symbolic motion planning for multi-robot systems is developed to address scalability. More specifically, compositional reasoning approaches are developed to decompose the global planning problem, and atomic propositions for observation, communication, and control are proposed to address inter-robot collision avoidance. To improve solution quality and adaptability, a dynamic, quantitative, and probabilistic human-to-robot trust model is developed to aid this decomposition. Furthermore, a trust-based real-time switching framework is proposed to switch between autonomous and manual motion planning for tradeoffs between task safety and efficiency. Deadlock- and livelock-free algorithms are designed to guarantee reachability of goals with a human-in-the-loop. A set of non-trivial multi-robot simulations with direct human input and trust evaluation are provided demonstrating the successful implementation of the trust-based multi-robot symbolic motion planning methods.
Deep Learning using K-space Based Data Augmentation for Automated Cardiac MR Motion Artefact Detection
Venue: arXiv cs.CV 2018
Year: 2018

Quality assessment of medical images is essential for complete automation of image processing pipelines. For large population studies such as the UK Biobank, artefacts such as those caused by heart motion are problematic and manual identification is tedious and time-consuming. Therefore, there is an urgent need for automatic image quality assessment techniques. In this paper, we propose a method to automatically detect the presence of motion-related artefacts in cardiac magnetic resonance (CMR) images. As this is a highly imbalanced classification problem (due to the high number of good quality images compared to the low number of images with motion artefacts), we propose a novel k-space based training data augmentation approach in order to address this problem. Our method is based on 3D spatio-temporal Convolutional Neural Networks, and is able to detect 2D+time short axis images with motion artefacts in less than 1ms. We test our algorithm on a subset of the UK Biobank dataset consisting of 3465 CMR images and achieve not only high accuracy in detection of motion artefacts, but also high precision and recall. We compare our approach to a range of state-of-the-art quality assessment methods.
An Underactuated Vehicle Localization Method in Marine Environments
Venue: arXiv cs.RO 2018
Year: 2018

The underactuated vehicles are apposite for the long-term deployment and data collection in spatiotemporally varying marine environments. However, these vehicles need to estimate their positions (states) with intrinsic sensing in their long-term trajectories. In previous studies, autonomous underwater vehicles have commonly used vision and range sensors for autonomous state estimation. Inspired by the intrinsic sensing and the persistent deployment, we investigate the localization problem (state estimation) for an inexpensive and underactuated drifting vehicle called a drifter. In this paper, we present a localization method for the drifter making use of the observations of a proprioceptive sensor, i.e., compass. We create the water flow pattern within a given region from ocean model predictions, develop a stochastic motion model, and analyze the persistent water flow behavior. Given a distribution of initial deployment states of the drifter at a particular depth of the water column within the region and the water flow pattern, our method finds attractors and their transient groups at the given depth as the persistent behavior of the water flow. A most-likely localized trajectory of the drifter for a sequence of compass observations is generated based on the persistent behavior of the water flow and hidden Markov model. Our simulation results based on data from ocean model predictions substantiate good performance of our proposed localization method with a low error rate of the state estimation in the long-term trajectory of the drifter.
Building medical image classifiers with very limited data using segmentation networks
Venue: arXiv cs.CV 2018
Year: 2018

Deep learning has shown promising results in medical image analysis, however, the lack of very large annotated datasets confines its full potential. Although transfer learning with ImageNet pre-trained classification models can alleviate the problem, constrained image sizes and model complexities can lead to unnecessary increase in computational cost and decrease in performance. As many common morphological features are usually shared by different classification tasks of an organ, it is greatly beneficial if we can extract such features to improve classification with limited samples. Therefore, inspired by the idea of curriculum learning, we propose a strategy for building medical image classifiers using features from segmentation networks. By using a segmentation network pre-trained on similar data as the classification task, the machine can first learn the simpler shape and structural concepts before tackling the actual classification problem which usually involves more complicated concepts. Using our proposed framework on a 3D three-class brain tumor type classification problem, we achieved 82% accuracy on 191 testing samples with 91 training samples. When applying to a 2D nine-class cardiac semantic level classification problem, we achieved 86% accuracy on 263 testing samples with 108 training samples. Comparisons with ImageNet pre-trained classifiers and classifiers trained from scratch are presented.
Domain Knowledge Discovery Guided by Software Trace Links
Venue: arXiv cs.SE 2018
Year: 2018

Software-intensive projects are specified and modeled using domain terminology. Knowledge of the domain terminology is necessary for performing many Software Engineering tasks such as impact analysis, compliance verification, and safety certification. However, discovering domain terminology and reasoning about their interrelationships for highly technical software and system engineering domains is a complex task which requires significant domain expertise and human effort. In this paper, we present a novel approach for leveraging trace links in software intensive systems to guide the process of mining facts that contain domain knowledge. The trace links which drive our mining process, define relationships between artifacts such as regulations and requirements and enable a guided search through high-yield combinations of domain terms. Our proof-of-concept evaluation shows that our approach aids in the discovery of domain facts even in highly complex technical domains. These domain facts can provide support for a variety of Software Engineering activities. As a use case, we demonstrate how the mined facts can facilitate the task of project Q&A.
Real-time policy generation and its application to robot grasping
Venue: arXiv cs.RO 2018
Year: 2018

Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful model for later real time action. Our goal in this paper is to provide a solution for robot grasping as a real time application without the time and memory consuming pertaining phase. Grasping as one of the most important ability of human being is defined as a suitable configuration which depends on the perceived information from the object. For human being, the best results obtain when one incorporates the vision data such as the extracted edges and shape from the object into grasping task. Nevertheless, in robotics, vision will not suite for every situation. Another possibility to grasping is using the object shape information from its vicinity. Based on these Haptic information, similar to human being, one can propose different approaches to grasping which are called grasping policies. In this work, we are trying to introduce a real time policy which aims at keeping contact with the object during movement and alignment on it. First we state problem by system dynamic equation incorporated by the object constraint surface into dynamic equation. In next step, the suggested policy to accomplish the task in real time based on the available sensor information will be presented. The effectiveness of proposed approach will be evaluated by demonstration results.
Simultaneous Localization And Mapping with depth Prediction using Capsule Networks for UAVs
Venue: arXiv cs.RO 2018
Year: 2018

In this paper, we propose an novel implementation of a simultaneous localization and mapping (SLAM) system based on a monocular camera from an unmanned aerial vehicle (UAV) using Depth prediction performed with Capsule Networks (CapsNet), which possess improvements over the drawbacks of the more widely-used Convolutional Neural Networks (CNN). An Extended Kalman Filter will assist in estimating the position of the UAV so that we are able to update the belief for the environment. Results will be evaluated on a benchmark dataset to portray the accuracy of our intended approach.
Genre-Agnostic Key Classification With Convolutional Neural Networks
Venue: arXiv cs.SD 2018
Year: 2018

We propose modifications to the model structure and training procedure to a recently introduced Convolutional Neural Network for musical key classification. These modifications enable the network to learn a genre-independent model that performs better than models trained for specific music styles, which has not been the case in existing work. We analyse this generalisation capability on three datasets comprising distinct genres. We then evaluate the model on a number of unseen data sets, and show its superior performance compared to the state of the art. Finally, we investigate the model's performance on short excerpts of audio. From these experiments, we conclude that models need to consider the harmonic coherence of the whole piece when classifying the local key of short segments of audio.
Neural Networks Assist Crowd Predictions in Discerning the Veracity of Emotional Expressions
Venue: arXiv cs.HC 2018
Year: 2018

Crowd predictions have demonstrated powerful performance in predicting future events. We aim to understand crowd prediction efficacy in ascertaining the veracity of human emotional expressions. We discover that collective discernment can increase the accuracy of detecting emotion veracity from 63%, which is the average individual performance, to 80%. Constraining data to best performers can further increase the result up to 92%. Neural networks can achieve an accuracy to 99.69% by aggregating participants' answers. That is, assigning positive and negative weights to high and low human predictors, respectively. Furthermore, neural networks that are trained with one emotion data can also produce high accuracies on discerning the veracity of other emotion types: our crowdsourced transfer of emotion learning is novel. We find that our neural networks do not require a large number of participants, particularly, 30 randomly selected, to achieve high accuracy predictions, better than any individual participant. Our proposed method of assembling peoples' predictions with neural networks can provide insights for applications such as fake news prevention and lie detection.
Towards Automated Data Integration in Software Analytics
Venue: arXiv cs.SE 2018
Year: 2018

Software organizations want to be able to base their decisions on the latest set of available data and the real-time analytics derived from them. In order to support "real-time enterprise" for software organizations and provide information transparency for diverse stakeholders, we integrate heterogeneous data sources about software analytics, such as static code analysis, testing results, issue tracking systems, network monitoring systems, etc. To deal with the heterogeneity of the underlying data sources, we follow an ontology-based data integration approach in this paper and define an ontology that captures the semantics of relevant data for software analytics. Furthermore, we focus on the integration of such data sources by proposing two approaches: a static and a dynamic one. We first discuss the current static approach with a predefined set of analytic views representing software quality factors and further envision how this process could be automated in order to dynamically build custom user analysis using a semi-automatic platform for managing the lifecycle of analytics infrastructures.
A Pipeline for Lenslet Light Field Quality Enhancement
Venue: arXiv cs.CV 2018
Year: 2018

In recent years, light fields have become a major research topic and their applications span across the entire spectrum of classical image processing. Among the different methods used to capture a light field are the lenslet cameras, such as those developed by Lytro. While these cameras give a lot of freedom to the user, they also create light field views that suffer from a number of artefacts. As a result, it is common to ignore a significant subset of these views when doing high-level light field processing. We propose a pipeline to process light field views, first with an enhanced processing of RAW images to extract subaperture images, then a colour correction process using a recent colour transfer algorithm, and finally a denoising process using a state of the art light field denoising approach. We show that our method improves the light field quality on many levels, by reducing ghosting artefacts and noise, as well as retrieving more accurate and homogeneous colours across the sub-aperture images.
Sememe Prediction: Learning Semantic Knowledge from Unstructured Textual Wiki Descriptions
Venue: arXiv cs.CL 2018
Year: 2018

Huge numbers of new words emerge every day, leading to a great need for representing them with semantic meaning that is understandable to NLP systems. Sememes are defined as the minimum semantic units of human languages, the combination of which can represent the meaning of a word. Manual construction of sememe based knowledge bases is time-consuming and labor-intensive. Fortunately, communities are devoted to composing the descriptions of words in the wiki websites. In this paper, we explore to automatically predict lexical sememes based on the descriptions of the words in the wiki websites. We view this problem as a weakly ordered multi-label task and propose a Label Distributed seq2seq model (LD-seq2seq) with a novel soft loss function to solve the problem. In the experiments, we take a real-world sememe knowledge base HowNet and the corresponding descriptions of the words in Baidu Wiki for training and evaluation. The results show that our LD-seq2seq model not only beats all the baselines significantly on the test set, but also outperforms amateur human annotators in a random subset of the test set.
Shared-memory Exact Minimum Cuts
Venue: arXiv cs.DS 2018
Year: 2018

The minimum cut problem for an undirected edge-weighted graph asks us to divide its set of nodes into two blocks while minimizing the weight sum of the cut edges. In this paper, we engineer the fastest known exact algorithm for the problem. State-of-the-art algorithms like the algorithm of Padberg and Rinaldi or the algorithm of Nagamochi, Ono and Ibaraki identify edges that can be contracted to reduce the graph size such that at least one minimum cut is maintained in the contracted graph. Our algorithm achieves improvements in running time over these algorithms by a multitude of techniques. First, we use a recently developed fast and parallel \emph{inexact} minimum cut algorithm to obtain a better bound for the problem. Then we use reductions that depend on this bound, to reduce the size of the graph much faster than previously possible. We use improved data structures to further improve the running time of our algorithm. Additionally, we parallelize the contraction routines of Nagamochi, Ono and Ibaraki. Overall, we arrive at a system that outperforms the fastest state-of-the-art solvers for the \emph{exact} minimum cut problem significantly.
Metric Learning for Novelty and Anomaly Detection
Venue: arXiv cs.CV 2018
Year: 2018

When neural networks process images which do not resemble the distribution seen during training, so called out-of-distribution images, they often make wrong predictions, and do so too confidently. The capability to detect out-of-distribution images is therefore crucial for many real-world applications. We divide out-of-distribution detection between novelty detection ---images of classes which are not in the training set but are related to those---, and anomaly detection ---images with classes which are unrelated to the training set. By related we mean they contain the same type of objects, like digits in MNIST and SVHN. Most existing work has focused on anomaly detection, and has addressed this problem considering networks trained with the cross-entropy loss. Differently from them, we propose to use metric learning which does not have the drawback of the softmax layer (inherent to cross-entropy methods), which forces the network to divide its prediction power over the learned classes. We perform extensive experiments and evaluate both novelty and anomaly detection, even in a relevant application such as traffic sign recognition, obtaining comparable or better results than previous works.
Experiential Robot Learning with Accelerated Neuroevolution
Venue: arXiv cs.RO 2018
Year: 2018

Derivative-based optimization techniques such as Stochastic Gradient Descent has been wildly successful in training deep neural networks. However, it has constraints such as end-to-end network differentiability. As an alternative, we present the Accelerated Neuroevolution algorithm. The new algorithm is aimed towards physical robotic learning tasks following the Experiential Robot Learning method. We test our algorithm first on a simulated task of playing the game Flappy Bird, then on a physical NAO robot in a static Object Centering task. The agents successfully navigate the given tasks, in a relatively low number of generations. Based on our results, we propose to use the algorithm in more complex tasks.
The linear hidden subset problem for the (1+1) EA with scheduled and adaptive mutation rates
Venue: arXiv cs.NE 2018
Year: 2018

We study unbiased $(1+1)$ evolutionary algorithms on linear functions with an unknown number $n$ of bits with non-zero weight. Static algorithms achieve an optimal runtime of $O(n (\ln n)^{2+ε})$, however, it remained unclear whether more dynamic parameter policies could yield better runtime guarantees. We consider two setups: one where the mutation rate follows a fixed schedule, and one where it may be adapted depending on the history of the run. For the first setup, we give a schedule that achieves a runtime of $(1\pm o(1))βn \ln n$, where $β\approx 3.552$, which is an asymptotic improvement over the runtime of the static setup. Moreover, we show that no schedule admits a better runtime guarantee and that the optimal schedule is essentially unique. For the second setup, we show that the runtime can be further improved to $(1\pm o(1)) e n \ln n$, which matches the performance of algorithms that know $n$ in advance. Finally, we study the related model of initial segment uncertainty with static position-dependent mutation rates, and derive asymptotically optimal lower bounds. This answers a question by Doerr, Doerr, and Kötzing.
Toward an Expressive Bipedal Robot: Variable Gait Synthesis and Validation in a Planar Model
Venue: arXiv cs.RO 2018
Year: 2018

Humans are efficient, yet expressive in their motion. Human walking behaviors can be used to walk across a great variety of surfaces without falling and to communicate internal state to other humans through variable gait styles. This provides inspiration for creating similarly expressive bipedal robots. To this end, a framework is presented for stylistic gait generation in a compass-like under-actuated planar biped model. The gait design is done using model-based trajectory optimization with variable constraints. For a finite range of optimization parameters, a large set of 360 gaits can be generated for this model. In particular, step length and cost function are varied to produce distinct cyclic walking gaits. From these resulting gaits, 6 gaits are identified and labeled, using embodied movement analysis, with stylistic verbs that correlate with human activity, e.g., "lope" and "saunter". These labels have been validated by conducting user studies in Amazon Mechanical Turk and thus demonstrate that visually distinguishable, meaningful gaits are generated using this framework. This lays groundwork for creating a bipedal humanoid with variable socially competent movement profiles.