OpenRaiser/Intern-Atlas huggingface dataset:
Geometric Interpretation of side-sharing and point-sharing solutions in the P3P Problem
Venue: arXiv cs.CV 2019
Year: 2019

It is well known that the P3P problem could have 1, 2, 3 and at most 4 positive solutions under different configurations among its 3 control points and the position of the optical center. Since in any real applications, the knowledge on the exact number of possible solutions is a prerequisite for selecting the right one among all the possible solutions, the study on the phenomenon of multiple solutions in the P3P problem has been an active topic . In this work, we provide some new geometric interpretations on the multi-solution phenomenon in the P3P problem, our main results include: (1): The necessary and sufficient condition for the P3P problem to have a pair of side-sharing solutions is the two optical centers of the solutions both lie on one of the 3 vertical planes to the base plane of control points; (2): The necessary and sufficient condition for the P3P problem to have a pair of point-sharing solutions is the two optical centers of the solutions both lie on one of the 3 so-called skewed danger cylinders;(3): If the P3P problem has other solutions in addition to a pair of side-sharing ( point-sharing) solutions, these remaining solutions must be a point-sharing ( side-sharing ) pair. In a sense, the side-sharing pair and the point-sharing pair are companion pairs. In sum, our results provide some new insights into the nature of the multi-solution phenomenon in the P3P problem, in addition to their academic value, they could also be used as some theoretical guidance for practitioners in real applications to avoid occurrence of multiple solutions by properly arranging the control points.
High-performance quantization for spectral super-resolution
Venue: arXiv cs.IT 2019
Year: 2019

We show that the method of distributed noise-shaping beta-quantization offers superior performance for the problem of spectral super-resolution with quantization whenever there is redundancy in the number of measurements. More precisely, if the (integer) oversampling ratio $λ$ is such that $\lfloor M/λ\rfloor - 1\geq 4/Δ$, where $M$ denotes the number of Fourier measurements and $Δ$ is the minimum separation distance associated with the atomic measure to be resolved, then for any number $K\geq 2$ of quantization levels available for the real and imaginary parts of the measurements, our quantization method guarantees reconstruction accuracy of order $O(λK^{- λ/2})$, up to constants which are independent of $K$ and $λ$. In contrast, memoryless scalar quantization offers a guarantee of order $O(K^{-1})$ only.
Social Network Based Substance Abuse Prevention via Network Modification (A Preliminary Study)
Venue: arXiv cs.SI 2019
Year: 2019

Substance use and abuse is a significant public health problem in the United States. Group-based intervention programs offer a promising means of preventing and reducing substance abuse. While effective, unfortunately, inappropriate intervention groups can result in an increase in deviant behaviors among participants, a process known as deviancy training. This paper investigates the problem of optimizing the social influence related to the deviant behavior via careful construction of the intervention groups. We propose a Mixed Integer Optimization formulation that decides on the intervention groups, captures the impact of the groups on the structure of the social network, and models the impact of these changes on behavior propagation. In addition, we propose a scalable hybrid meta-heuristic algorithm that combines Mixed Integer Programming and Large Neighborhood Search to find near-optimal network partitions. Our algorithm is packaged in the form of GUIDE, an AI-based decision aid that recommends intervention groups. Being the first quantitative decision aid of this kind, GUIDE is able to assist practitioners, in particular social workers, in three key areas: (a) GUIDE proposes near-optimal solutions that are shown, via extensive simulations, to significantly improve over the traditional qualitative practices for forming intervention groups; (b) GUIDE is able to identify circumstances when an intervention will lead to deviancy training, thus saving time, money, and effort; (c) GUIDE can evaluate current strategies of group formation and discard strategies that will lead to deviancy training. In developing GUIDE, we are primarily interested in substance use interventions among homeless youth as a high risk and vulnerable population. GUIDE is developed in collaboration with Urban Peak, a homeless-youth serving organization in Denver, CO, and is under preparation for deployment.
Fast and Optimal Laplacian Solver for Gradient-Domain Image Editing using Green Function Convolution
Venue: arXiv cs.CV 2019
Year: 2019

In computer vision, the gradient and Laplacian of an image are used in different applications, such as edge detection, feature extraction, and seamless image cloning. Computing the gradient of an image is straightforward since numerical derivatives are available in most computer vision toolboxes. However, the reverse problem is more difficult, since computing an image from its gradient requires to solve the Laplacian equation, also called Poisson equation. Current discrete methods are either slow or require heavy parallel computing. The objective of this paper is to present a novel fast and robust method of solving the image gradient or Laplacian with minimal error, which can be used for gradient domain editing. By using a single convolution based on a numerical Green's function, the whole process is faster and straightforward to implement with different computer vision libraries. It can also be optimized on a GPU using fast Fourier transforms and can easily be generalized for an n dimension image. The tests show that, for images of resolution 801x1200, the proposed GFC can solve 100 Laplacian in parallel in around 1.0 milliseconds ms. This is orders of magnitude faster than our nearest competitor which requires 294ms for a single image. Furthermore, we prove mathematically and demonstrate empirically that the proposed method is the least error solver for gradient domain editing. The developed method is also validated with examples of Poisson blending, gradient removal, and the proposed gradient domain merging GDM. Finally, we present how the GDM can be leveraged in future works for convolutional neural networks CNN.
Thermal Recovery of Multi-Limbed Robots with Electric Actuators
Venue: arXiv cs.RO 2019
Year: 2019

The problem of finding thermally minimizing configurations of a humanoid robot to recover its actuators from unsafe thermal states is addressed. A first-order, data-driven, effort-based, thermal model of the robot's actuators is devised, which is used to predict future thermal states. Given this predictive capability, a map between configurations and future temperatures is formulated to find what configurations, subject to valid contact constraints, can be taken now to minimize future thermal states. Effectively, this approach is a realization of a contact-constrained thermal inverse-kinematics (IK) process. Experimental validation of the proposed approach is performed on the NASA Valkyrie robot hardware.
Around finite second-order coherence spaces
Venue: arXiv cs.LO 2019
Year: 2019

Many applications of denotational semantics, such as higher-order model checking or the complexity of normalization, rely on finite semantics for monomorphic type systems. We exhibit such a finite semantics for a polymorphic purely linear language: more precisely, we show that in Girard's semantics of second-order linear logic using coherence spaces and normal functors, the denotations of multiplicative-additive formulas are finite. This model is also effective, in the sense that the denotations of formulas and proofs are computable, as we show. We also establish analogous results for a second-order extension of Ehrhard's hypercoherences; while finiteness holds for the same reason as in coherence spaces, effectivity presents additional difficulties. Finally, we discuss the applications our our work to implicit computational complexity in linear (or affine) logic. In view of these applications, we study cardinality and complexity bounds in our finite semantics.
Causally Driven Incremental Multi Touch Attribution Using a Recurrent Neural Network
Venue: arXiv cs.LG 2019
Year: 2019

This paper describes a practical system for Multi Touch Attribution (MTA) for use by a publisher of digital ads. We developed this system for JD.com, an eCommerce company, which is also a publisher of digital ads in China. The approach has two steps. The first step ('response modeling') fits a user-level model for purchase of a product as a function of the user's exposure to ads. The second ('credit allocation') uses the fitted model to allocate the incremental part of the observed purchase due to advertising, to the ads the user is exposed to over the previous T days. To implement step one, we train a Recurrent Neural Network (RNN) on user-level conversion and exposure data. The RNN has the advantage of flexibly handling the sequential dependence in the data in a semi-parametric way. The specific RNN formulation we implement captures the impact of advertising intensity, timing, competition, and user-heterogeneity, which are known to be relevant to ad-response. To implement step two, we compute Shapley Values, which have the advantage of having axiomatic foundations and satisfying fairness considerations. The specific formulation of the Shapley Value we implement respects incrementality by allocating the overall incremental improvement in conversion to the exposed ads, while handling the sequence-dependence of exposures on the observed outcomes. The system is under production at JD.com, and scales to handle the high dimensionality of the problem on the platform (attribution of the orders of about 300M users, for roughly 160K brands, across 200+ ad-types, served about 80B ad-impressions over a typical 15-day period).
An Extension of Linear-size Suffix Tries for Parameterized Strings
Venue: arXiv cs.DS 2019
Year: 2019

In this paper, we propose a new indexing structure for parameterized strings which we call PLSTs, by generalizing linear-size suffix tries for ordinary strings. Two parameterized strings are said to match if there is a bijection on the symbol set that makes the two coincide. PLSTs are applicable to the parameterized pattern matching problem, which is to decide whether the input parameterized text has a substring that matches the input parameterized pattern. The size of PLSTs is linear in the text size, with which our algorithm solves the parameterized pattern matching problem in linear time in the pattern size. PLSTs can be seen as a compacted version of parameterized suffix tries and a combination of linear-size suffix tries and parameterized suffix trees. We experimentally show that PLSTs are more space efficient than parameterized suffix trees for highly repetitive strings.
Some Enumeration Problems in the Duplication-Loss Model of Genome Rearrangement
Venue: arXiv cs.DM 2019
Year: 2019

Tandem-duplication-random-loss (TDRL) is an important genome rearrangement operation studied in evolutionary biology. This paper investigates some of the formal properties of TDRL operations on the symmetric group (the space of permutations over an $ n $-set). In particular, the cardinality of `balls' of radius one in the TDRL metric, as well as the cardinality of the maximum intersection of two such balls, are determined. The corresponding problems for the so-called mirror (or palindromic) TDRL rearrangement operations are also solved. The results represent an initial step in the study of error correction and reconstruction problems in this context and are of potential interest in DNA-based data storage applications.
Training Artificial Neural Networks by Generalized Likelihood Ratio Method: Exploring Brain-like Learning to Improve Robustness
Venue: arXiv cs.LG 2019
Year: 2019

In this work, we propose a generalized likelihood ratio method capable of training the artificial neural networks with some biological brain-like mechanisms,.e.g., (a) learning by the loss value, (b) learning via neurons with discontinuous activation and loss functions. The traditional back propagation method cannot train the artificial neural networks with aforementioned brain-like learning mechanisms. Numerical results show that the robustness of various artificial neural networks trained by the new method is significantly improved when the input data is affected by both the natural noises and adversarial attacks. Code is available: \url{https://github.com/LX-doctorAI/GLR_ADV} .
Intelligent architectures for robotics: The merging of cognition and emotion
Venue: arXiv cs.RO 2019
Year: 2019

What is the place of emotion in intelligent robots? In the past two decades, researchers have advocated for the inclusion of some emotion-related components in the general information processing architecture of autonomous agents, say, for better communication with humans, or to instill a sense of urgency to action. The framework advanced here goes beyond these approaches and proposes that emotion and motivation need to be integrated with all aspects of the architecture. Thus, cognitive-emotional integration is a key design principle. Emotion is not an "add on" that endows a robot with "feelings" (for instance, reporting or expressing its internal state). It allows the significance of percepts, plans, and actions to be an integral part of all its computations. It is hypothesized that a sophisticated artificial intelligence cannot be built from separate cognitive and emotional modules. A hypothetical test inspired by the Turing test, called the Dolores test, is proposed to test this assertion.
Efficient Hybrid Network Architectures for Extremely Quantized Neural Networks Enabling Intelligence at the Edge
Venue: arXiv cs.LG 2019
Year: 2019

The recent advent of `Internet of Things' (IOT) has increased the demand for enabling AI-based edge computing. This has necessitated the search for efficient implementations of neural networks in terms of both computations and storage. Although extreme quantization has proven to be a powerful tool to achieve significant compression over full-precision networks, it can result in significant degradation in performance. In this work, we propose extremely quantized hybrid network architectures with both binary and full-precision sections to emulate the classification performance of full-precision networks while ensuring significant energy efficiency and memory compression. We explore several hybrid network architectures and analyze the performance of the networks in terms of accuracy, energy efficiency and memory compression. We perform our analysis on ResNet and VGG network architectures. Among the proposed network architectures, we show that the hybrid networks with full-precision residual connections emerge as the optimum by attaining accuracies close to full-precision networks while achieving excellent memory compression, up to 21.8x in case of VGG-19. This work demonstrates an effective way of hybridizing networks which achieve performance close to full-precision networks while attaining significant compression, furthering the feasibility of using such networks for energy-efficient neural computing in IOT-based edge devices.
Top-view Trajectories: A Pedestrian Dataset of Vehicle-Crowd Interaction from Controlled Experiments and Crowded Campus
Venue: arXiv cs.CV 2019
Year: 2019

Predicting the collective motion of a group of pedestrians (a crowd) under the vehicle influence is essential for the development of autonomous vehicles to deal with mixed urban scenarios where interpersonal interaction and vehicle-crowd interaction (VCI) are significant. This usually requires a model that can describe individual pedestrian motion under the influence of nearby pedestrians and the vehicle. This study proposed two pedestrian trajectory datasets, CITR dataset and DUT dataset, so that the pedestrian motion models can be further calibrated and verified, especially when vehicle influence on pedestrians plays an important role. CITR dataset consists of experimentally designed fundamental VCI scenarios (front, back, and lateral VCIs) and provides unique ID for each pedestrian, which is suitable for exploring a specific aspect of VCI. DUT dataset gives two ordinary and natural VCI scenarios in crowded university campus, which can be used for more general purpose VCI exploration. The trajectories of pedestrians, as well as vehicles, were extracted by processing video frames that come from a down-facing camera mounted on a hovering drone as the recording equipment. The final trajectories of pedestrians and vehicles were refined by Kalman filters with linear point-mass model and nonlinear bicycle model, respectively, in which xy-velocity of pedestrians and longitudinal speed and orientation of vehicles were estimated. The statistics of the velocity magnitude distribution demonstrated the validity of the proposed dataset. In total, there are approximate 340 pedestrian trajectories in CITR dataset and 1793 pedestrian trajectories in DUT dataset. The dataset is available at GitHub.
The Hanabi Challenge: A New Frontier for AI Research
Venue: arXiv cs.LG 2019
Year: 2019

From the early days of computing, games have been important testbeds for studying how well machines can do sophisticated decision making. In recent years, machine learning has made dramatic advances with artificial agents reaching superhuman performance in challenge domains like Go, Atari, and some variants of poker. As with their predecessors of chess, checkers, and backgammon, these game domains have driven research by providing sophisticated yet well-defined challenges for artificial intelligence practitioners. We continue this tradition by proposing the game of Hanabi as a new challenge domain with novel problems that arise from its combination of purely cooperative gameplay with two to five players and imperfect information. In particular, we argue that Hanabi elevates reasoning about the beliefs and intentions of other agents to the foreground. We believe developing novel techniques for such theory of mind reasoning will not only be crucial for success in Hanabi, but also in broader collaborative efforts, especially those with human partners. To facilitate future research, we introduce the open-source Hanabi Learning Environment, propose an experimental framework for the research community to evaluate algorithmic advances, and assess the performance of current state-of-the-art techniques.
Incremental Techniques for Large-Scale Dynamic Query Processing
Venue: arXiv cs.DB 2019
Year: 2019

Many applications from various disciplines are now required to analyze fast evolving big data in real time. Various approaches for incremental processing of queries have been proposed over the years. Traditional approaches rely on updating the results of a query when updates are streamed rather than re-computing these queries, and therefore, higher execution performance is expected. However, they do not perform well for large databases that are updated at high frequencies. Therefore, new algorithms and approaches have been proposed in the literature to address these challenges by, for instance, reducing the complexity of processing updates. Moreover, many of these algorithms are now leveraging distributed streaming platforms such as Spark Streaming and Flink. In this tutorial, we briefly discuss legacy approaches for incremental query processing, and then give an overview of the new challenges introduced due to processing big data streams. We then discuss in detail the recently proposed algorithms that address some of these challenges. We emphasize the characteristics and algorithmic analysis of various proposed approaches and conclude by discussing future research directions.
Towards an Achievable Performance for the Loop Nests
Venue: arXiv cs.PF 2019
Year: 2019

Numerous code optimization techniques, including loop nest optimizations, have been developed over the last four decades. Loop optimization techniques transform loop nests to improve the performance of the code on a target architecture, including exposing parallelism. Finding and evaluating an optimal, semantic-preserving sequence of transformations is a complex problem. The sequence is guided using heuristics and/or analytical models and there is no way of knowing how close it gets to optimal performance or if there is any headroom for improvement. This paper makes two contributions. First, it uses a comparative analysis of loop optimizations/transformations across multiple compilers to determine how much headroom may exist for each compiler. And second, it presents an approach to characterize the loop nests based on their hardware performance counter values and a Machine Learning approach that predicts which compiler will generate the fastest code for a loop nest. The prediction is made for both auto-vectorized, serial compilation and for auto-parallelization. The results show that the headroom for state-of-the-art compilers ranges from 1.10x to 1.42x for the serial code and from 1.30x to 1.71x for the auto-parallelized code. These results are based on the Machine Learning predictions.
Progressive Explanation Generation for Human-robot Teaming
Venue: arXiv cs.AI 2019
Year: 2019

Generating explanation to explain its behavior is an essential capability for a robotic teammate. Explanations help human partners better understand the situation and maintain trust of their teammates. Prior work on robot generating explanations focuses on providing the reasoning behind its decision making. These approaches, however, fail to heed the cognitive requirement of understanding an explanation. In other words, while they provide the right explanations from the explainer's perspective, the explainee part of the equation is ignored. In this work, we address an important aspect along this direction that contributes to a better understanding of a given explanation, which we refer to as the progressiveness of explanations. A progressive explanation improves understanding by limiting the cognitive effort required at each step of making the explanation. As a result, such explanations are expected to be smoother and hence easier to understand. A general formulation of progressive explanation is presented. Algorithms are provided based on several alternative quantifications of cognitive effort as an explanation is being made, which are evaluated in a standard planning competition domain.
Efficient estimation of AUC in a sliding window
Venue: arXiv cs.LG 2019
Year: 2019

In many applications, monitoring area under the ROC curve (AUC) in a sliding window over a data stream is a natural way of detecting changes in the system. The drawback is that computing AUC in a sliding window is expensive, especially if the window size is large and the data flow is significant. In this paper we propose a scheme for maintaining an approximate AUC in a sliding window of length $k$. More specifically, we propose an algorithm that, given $ε$, estimates AUC within $ε/ 2$, and can maintain this estimate in $O((\log k) / ε)$ time, per update, as the window slides. This provides a speed-up over the exact computation of AUC, which requires $O(k)$ time, per update. The speed-up becomes more significant as the size of the window increases. Our estimate is based on grouping the data points together, and using these groups to calculate AUC. The grouping is designed carefully such that ($i$) the groups are small enough, so that the error stays small, ($ii$) the number of groups is small, so that enumerating them is not expensive, and ($iii$) the definition is flexible enough so that we can maintain the groups efficiently. Our experimental evaluation demonstrates that the average approximation error in practice is much smaller than the approximation guarantee $ε/ 2$, and that we can achieve significant speed-ups with only a modest sacrifice in accuracy.