OpenRaiser/Intern-Atlas huggingface dataset:
Deep Attention Aware Feature Learning for Person Re-Identification
Venue: arXiv cs.CV 2020
Year: 2020

Visual attention has proven to be effective in improving the performance of person re-identification. Most existing methods apply visual attention heuristically by learning an additional attention map to re-weight the feature maps for person re-identification. However, this kind of methods inevitably increase the model complexity and inference time. In this paper, we propose to incorporate the attention learning as additional objectives in a person ReID network without changing the original structure, thus maintain the same inference time and model size. Two kinds of attentions have been considered to make the learned feature maps being aware of the person and related body parts respectively. Globally, a holistic attention branch (HAB) makes the feature maps obtained by backbone focus on persons so as to alleviate the influence of background. Locally, a partial attention branch (PAB) makes the extracted features be decoupled into several groups and be separately responsible for different body parts (i.e., keypoints), thus increasing the robustness to pose variation and partial occlusion. These two kinds of attentions are universal and can be incorporated into existing ReID networks. We have tested its performance on two typical networks (TriNet and Bag of Tricks) and observed significant performance improvement on five widely used datasets.
Exploiting Ergonomic Priors in Human-to-Robot Task Transfer
Venue: arXiv cs.RO 2020
Year: 2020

In recent years, there has been a booming shift in the development of versatile, autonomous robots by introducing means to intuitively teach robots task-oriented behaviour by demonstration. In this paper, a method based on programming by demonstration is proposed to learn null space policies from constrained motion data. The main advantage to using this is generalisation of a task by retargeting a systems redundancy as well as the capability to fully replace an entire system with another of varying link number and lengths while still accurately repeating a task subject to the same constraints. The effectiveness of the method has been demonstrated in a 3-link simulation and a real world experiment using a human subject as the demonstrator and is verified through task reproduction on a 7DoF physical robot. In simulation, the method works accurately with even as little as five data points producing errors less than 10^-14. The approach is shown to outperform the current state-of-the-art approach in a simulated 3DoF robot manipulator control problem where motions are reproduced using learnt constraints. Retargeting of a systems null space component is also demonstrated in a task where controlling how redundancy is resolved allows for obstacle avoidance. Finally, the approach is verified in a real world experiment using demonstrations from a human subject where the learnt task space trajectory is transferred onto a 7DoF physical robot of a different embodiment.
Ego-based Entropy Measures for Structural Representations
Venue: arXiv cs.LG 2020
Year: 2020

In complex networks, nodes that share similar structural characteristics often exhibit similar roles (e.g type of users in a social network or the hierarchical position of employees in a company). In order to leverage this relationship, a growing literature proposed latent representations that identify structurally equivalent nodes. However, most of the existing methods require high time and space complexity. In this paper, we propose VNEstruct, a simple approach for generating low-dimensional structural node embeddings, that is both time efficient and robust to perturbations of the graph structure. The proposed approach focuses on the local neighborhood of each node and employs the Von Neumann entropy, an information-theoretic tool, to extract features that capture the neighborhood's topology. Moreover, on graph classification tasks, we suggest the utilization of the generated structural embeddings for the transformation of an attributed graph structure into a set of augmented node attributes. Empirically, we observe that the proposed approach exhibits robustness on structural role identification tasks and state-of-the-art performance on graph classification tasks, while maintaining very high computational speed.
Stein Variational Inference for Discrete Distributions
Venue: arXiv cs.LG 2020
Year: 2020

Gradient-based approximate inference methods, such as Stein variational gradient descent (SVGD), provide simple and general-purpose inference engines for differentiable continuous distributions. However, existing forms of SVGD cannot be directly applied to discrete distributions. In this work, we fill this gap by proposing a simple yet general framework that transforms discrete distributions to equivalent piecewise continuous distributions, on which the gradient-free SVGD is applied to perform efficient approximate inference. The empirical results show that our method outperforms traditional algorithms such as Gibbs sampling and discontinuous Hamiltonian Monte Carlo on various challenging benchmarks of discrete graphical models. We demonstrate that our method provides a promising tool for learning ensembles of binarized neural network (BNN), outperforming other widely used ensemble methods on learning binarized AlexNet on CIFAR-10 dataset. In addition, such transform can be straightforwardly employed in gradient-free kernelized Stein discrepancy to perform goodness-of-fit (GOF) test on discrete distributions. Our proposed method outperforms existing GOF test methods for intractable discrete distributions.
VAE/WGAN-Based Image Representation Learning For Pose-Preserving Seamless Identity Replacement In Facial Images
Venue: arXiv cs.CV 2020
Year: 2020

We present a novel variational generative adversarial network (VGAN) based on Wasserstein loss to learn a latent representation from a face image that is invariant to identity but preserves head-pose information. This facilitates synthesis of a realistic face image with the same head pose as a given input image, but with a different identity. One application of this network is in privacy-sensitive scenarios; after identity replacement in an image, utility, such as head pose, can still be recovered. Extensive experimental validation on synthetic and real human-face image datasets performed under 3 threat scenarios confirms the ability of the proposed network to preserve head pose of the input image, mask the input identity, and synthesize a good-quality realistic face image of a desired identity. We also show that our network can be used to perform pose-preserving identity morphing and identity-preserving pose morphing. The proposed method improves over a recent state-of-the-art method in terms of quantitative metrics as well as synthesized image quality.
Communication-Efficient Multimodal Split Learning for mmWave Received Power Prediction
Venue: arXiv cs.NI 2020
Year: 2020

The goal of this study is to improve the accuracy of millimeter wave received power prediction by utilizing camera images and radio frequency (RF) signals, while gathering image inputs in a communication-efficient and privacy-preserving manner. To this end, we propose a distributed multimodal machine learning (ML) framework, coined multimodal split learning (MultSL), in which a large neural network (NN) is split into two wirelessly connected segments. The upper segment combines images and received powers for future received power prediction, whereas the lower segment extracts features from camera images and compresses its output to reduce communication costs and privacy leakage. Experimental evaluation corroborates that MultSL achieves higher accuracy than the baselines utilizing either images or RF signals. Remarkably, without compromising accuracy, compressing the lower segment output by 16x yields 16x lower communication latency and 2.8% less privacy leakage compared to the case without compression.
Intelligent Reflecting Surface Assisted Multi-User OFDMA: Channel Estimation and Training Design
Venue: arXiv cs.IT 2020
Year: 2020

To achieve the full passive beamforming gains of intelligent reflecting surface (IRS), accurate channel state information (CSI) is indispensable but practically challenging to acquire, due to the excessive amount of channel parameters to be estimated which increases with the number of IRS reflecting elements as well as that of IRS-served users. To tackle this challenge, we propose in this paper two efficient channel estimation schemes for different channel setups in an IRS-assisted multi-user broadband communication system employing the orthogonal frequency division multiple access (OFDMA). The first channel estimation scheme, which estimates the CSI of all users in parallel simultaneously at the access point (AP), is applicable for arbitrary frequency-selective fading channels. In contrast, the second channel estimation scheme, which exploits a key property that all users share the same (common) IRS-AP channel to enhance the training efficiency and support more users, is proposed for the typical scenario with line-of-sight (LoS) dominant user-IRS channels. For the two proposed channel estimation schemes, we further optimize their corresponding training designs (including pilot tone allocations for all users and IRS time-varying reflection pattern) to minimize the channel estimation error. Moreover, we derive and compare the fundamental limits on the minimum training overhead and the maximum number of supportable users of these two schemes. Simulation results verify the effectiveness of the proposed channel estimation schemes and training designs, and show their significant performance improvement over various benchmark schemes.
Design and Implementation of A Novel Precision Irrigation Robot Based on An Intelligent Path Planning Algorithm
Venue: arXiv cs.RO 2020
Year: 2020

The agricultural irrigation system is closely related to agricultural production. There are some problems in nowadays agricultural irrigation system, such as poor mobility, imprecision and high price. To address these issues, an intelligent irrigation robot is designed and implemented in this work. The robot achieves precise irrigation by the irrigation path planning algorithm which is improved by Bayesian theory. In the proposed algorithm, we utilize as much information as possible to achieve full coverage irrigation in the complex agricultural environment. Besides, we propose the maximum risk to avoid the problem of lack of inspection in certain areas. Finally, We carried out simulation experiments and field experiments to verify the robot and the algorithm. The experimental results indicate that the robot is capable of fulfilling the requirements of various agricultural irrigation tasks.
Graph3S: A Simple, Speedy and Scalable Distributed Graph Processing System
Venue: arXiv cs.DC 2020
Year: 2020

Graph is a ubiquitous structure in many domains. The rapidly increasing data volume calls for efficient and scalable graph data processing. In recent years, designing distributed graph processing systems has been an increasingly important area to fulfil the demands of processing big graphs in a distributed environment. Though a variety of distributed graph processing systems have been developed, very little attention has been paid to achieving a good combinational system performance in terms of usage simplicity, efficiency and scalability. To contribute to the study of distributed graph processing system, this work tries to fill this gap by designing a simple, speedy and scalable system. Our observation is that enforcing the communication flexibility of a system leads to the gains of both system efficiency and scalability as well as simple usage. We realize our idea in a system Graph3S and conduct extensive experiments with diverse algorithms over big graphs from different domains to test its performance. The results show that, besides simple usage, our system has outstanding performance over various graph algorithms and can even reach up to two orders of magnitude speedup over existing in-memory systems when applying to some algorithms. Also, its scalability is competitive to disk-based systems and even better when less machines are used.
Relational Deep Feature Learning for Heterogeneous Face Recognition
Venue: arXiv cs.CV 2020
Year: 2020

Heterogeneous Face Recognition (HFR) is a task that matches faces across two different domains such as visible light (VIS), near-infrared (NIR), or the sketch domain. Due to the lack of databases, HFR methods usually exploit the pre-trained features on a large-scale visual database that contain general facial information. However, these pre-trained features cause performance degradation due to the texture discrepancy with the visual domain. With this motivation, we propose a graph-structured module called Relational Graph Module (RGM) that extracts global relational information in addition to general facial features. Because each identity's relational information between intra-facial parts is similar in any modality, the modeling relationship between features can help cross-domain matching. Through the RGM, relation propagation diminishes texture dependency without losing its advantages from the pre-trained features. Furthermore, the RGM captures global facial geometrics from locally correlated convolutional features to identify long-range relationships. In addition, we propose a Node Attention Unit (NAU) that performs node-wise recalibration to concentrate on the more informative nodes arising from relation-based propagation. Furthermore, we suggest a novel conditional-margin loss function (C-softmax) for the efficient projection learning of the embedding vector in HFR. The proposed method outperforms other state-of-the-art methods on five HFR databases. Furthermore, we demonstrate performance improvement on three backbones because our module can be plugged into any pre-trained face recognition backbone to overcome the limitations of a small HFR database.
Spatiotemporal Learning of Multivehicle Interaction Patterns in Lane-Change Scenarios
Venue: arXiv cs.RO 2020
Year: 2020

Interpretation of common-yet-challenging interaction scenarios can benefit well-founded decisions for autonomous vehicles. Previous research achieved this using their prior knowledge of specific scenarios with predefined models, limiting their adaptive capabilities. This paper describes a Bayesian nonparametric approach that leverages continuous (i.e., Gaussian processes) and discrete (i.e., Dirichlet processes) stochastic processes to reveal underlying interaction patterns of the ego vehicle with other nearby vehicles. Our model relaxes dependency on the number of surrounding vehicles by developing an acceleration-sensitive velocity field based on Gaussian processes. The experiment results demonstrate that the velocity field can represent the spatial interactions between the ego vehicle and its surroundings. Then, a discrete Bayesian nonparametric model, integrating Dirichlet processes and hidden Markov models, is developed to learn the interaction patterns over the temporal space by segmenting and clustering the sequential interaction data into interpretable granular patterns automatically. We then evaluate our approach in the highway lane-change scenarios using the highD dataset collected from real-world settings. Results demonstrate that our proposed Bayesian nonparametric approach provides an insight into the complicated lane-change interactions of the ego vehicle with multiple surrounding traffic participants based on the interpretable interaction patterns and their transition properties in temporal relationships. Our proposed approach sheds light on efficiently analyzing other kinds of multi-agent interactions, such as vehicle-pedestrian interactions. View the demos via https://youtu.be/z_vf9UHtdAM.
Interfaz Grafica para la Gestion SDWN de un Entorno WLAN
Venue: arXiv cs.NI 2020
Year: 2020

This paper presents a graphical interface for the management of a wireless local area network that integrates a set of coordinated Wi-Fi access points. The interface interacts with a network application that is responsible for load balancing and mobility management. The graphical application is able to obtain and display the information stored in a system that includes a number of access points, and displays it in a friendly way for the network manager. Finally, the application allows remote management of the system, adjusting its parameters or making transfers between access points.
Gaining a Sense of Touch. Physical Parameters Estimation using a Soft Gripper and Neural Networks
Venue: arXiv cs.RO 2020
Year: 2020

Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical parameters of a squeezed object to adjust the manipulation procedure, which is considered as a significant challenge. To the best of the authors' knowledge, there is not enough research on physical parameters estimation using deep learning algorithms on measurements from direct interaction with objects using robotic grippers. In our work, we proposed a trainable system for the regression of a stiffness coefficient and provided extensive experiments using the physics simulator environment. Moreover, we prepared the application that works in the real-world scenario. Our system can reliably estimate the stiffness of an object using the Yale OpenHand soft gripper based on readings from Inertial Measurement Units (IMUs) attached to its fingers. Additionally, during the experiments, we prepared three datasets of signals gathered while squeezing objects -- two created in the simulation environment and one composed of real data.
Characterisation of rational and NURBS developable surfaces in Computer Aided Design
Venue: arXiv cs.GR 2020
Year: 2020

In this paper we provide a characterisation of rational developable surfaces in terms of the blossoms of the bounding curves and three rational functions $Λ$, $M$, $ν$. Properties of developable surfaces are revised in this framework. In particular, a closed algebraic formula for the edge of regression of the surface is obtained in terms of the functions $Λ$, $M$, $ν$, which are closely related to the ones that appear in the standard decomposition of the derivative of the parametrisation of one of the bounding curves in terms of the director vector of the rulings and its derivative. It is also shown that all rational developable surfaces can be described as the set of developable surfaces which can be constructed with a constant $Λ$, $M$, $ν$ . The results are readily extended to rational spline developable surfaces.
Real-Time target detection in maritime scenarios based on YOLOv3 model
Venue: arXiv cs.CV 2020
Year: 2020

In this work a novel ships dataset is proposed consisting of more than 56k images of marine vessels collected by means of web-scraping and including 12 ship categories. A YOLOv3 single-stage detector based on Keras API is built on top of this dataset. Current results on four categories (cargo ship, naval ship, oil ship and tug ship) show Average Precision up to 96% for Intersection over Union (IoU) of 0.5 and satisfactory detection performances up to IoU of 0.8. A Data Analytics GUI service based on QT framework and Darknet-53 engine is also implemented in order to simplify the deployment process and analyse massive amount of images even for people without Data Science expertise.
Task Augmentation by Rotating for Meta-Learning
Venue: arXiv cs.CV 2020
Year: 2020

Data augmentation is one of the most effective approaches for improving the accuracy of modern machine learning models, and it is also indispensable to train a deep model for meta-learning. In this paper, we introduce a task augmentation method by rotating, which increases the number of classes by rotating the original images 90, 180 and 270 degrees, different from traditional augmentation methods which increase the number of images. With a larger amount of classes, we can sample more diverse task instances during training. Therefore, task augmentation by rotating allows us to train a deep network by meta-learning methods with little over-fitting. Experimental results show that our approach is better than the rotation for increasing the number of images and achieves state-of-the-art performance on miniImageNet, CIFAR-FS, and FC100 few-shot learning benchmarks. The code is available on \url{www.github.com/AceChuse/TaskLevelAug}.
Deepfakes for Medical Video De-Identification: Privacy Protection and Diagnostic Information Preservation
Venue: arXiv cs.CV 2020
Year: 2020

Data sharing for medical research has been difficult as open-sourcing clinical data may violate patient privacy. Traditional methods for face de-identification wipe out facial information entirely, making it impossible to analyze facial behavior. Recent advancements on whole-body keypoints detection also rely on facial input to estimate body keypoints. Both facial and body keypoints are critical in some medical diagnoses, and keypoints invariability after de-identification is of great importance. Here, we propose a solution using deepfake technology, the face swapping technique. While this swapping method has been criticized for invading privacy and portraiture right, it could conversely protect privacy in medical video: patients' faces could be swapped to a proper target face and become unrecognizable. However, it remained an open question that to what extent the swapping de-identification method could affect the automatic detection of body keypoints. In this study, we apply deepfake technology to Parkinson's disease examination videos to de-identify subjects, and quantitatively show that: face-swapping as a de-identification approach is reliable, and it keeps the keypoints almost invariant, significantly better than traditional methods. This study proposes a pipeline for video de-identification and keypoint preservation, clearing up some ethical restrictions for medical data sharing. This work could make open-source high quality medical video datasets more feasible and promote future medical research that benefits our society.
Quantized Neural Network Inference with Precision Batching
Venue: arXiv cs.LG 2020
Year: 2020

We present PrecisionBatching, a quantized inference algorithm for speeding up neural network execution on traditional hardware platforms at low bitwidths without the need for retraining or recalibration. PrecisionBatching decomposes a neural network into individual bitlayers and accumulates them using fast 1-bit operations while maintaining activations in full precision. PrecisionBatching not only facilitates quantized inference at low bitwidths (< 8 bits) without the need for retraining/recalibration, but also 1) enables traditional hardware platforms the ability to realize inference speedups at a finer granularity of quantization (e.g: 1-16 bit execution) and 2) allows accuracy and speedup tradeoffs at runtime by exposing the number of bitlayers to accumulate as a tunable parameter. Across a variety of applications (MNIST, language modeling, natural language inference) and neural network architectures (fully connected, RNN, LSTM), PrecisionBatching yields end-to-end speedups of over 8x on a GPU within a < 1% error margin of the full precision baseline, outperforming traditional 8-bit quantized inference by over 1.5x-2x at the same error tolerance.