Reviewerly/exHarmony huggingface dataset:
Smoothed A* algorithm for practical unmanned surface vehicle path planning

An effective path planning or route planning algorithm is essential for guiding unmanned surface vehicles (USVs) between way points or along a trajectory. The A* algorithm is one of the most efficient algorithms for calculating a safe route with the shortest distance cost. However, the route generated by the conventional A* algorithm is constrained by the resolution of the map and it may not be compatible with the non-holonomic constraint of the USV. In this paper an improved A* algorithm has been proposed and applied to the Springer USV. A new path smoothing process with three path smoothers has been developed to improve the performance of the generated route, reducing unnecessary ‘jags’, having no redundant waypoints and offering a more continuous route. Both simulation and experimental results show that the smoothed A* algorithm outperforms the conventional algorithm in both sparse and cluttered environments that have been uniformly rasterised. It has been demonstrated that the proposed improved A* route planning algorithm can be applied to the Springer USV providing promising results when tracking trajectories.
Learning Navigation Behaviors End-to-End With AutoRL

We learn end-to-end point-to-point and pathfollowing navigation behaviors that avoid moving obstacles. These policies receive noisy lidar observations and output robot linear and angular velocities. The policies are trained in small, static environments with AutoRL, an evolutionary automation layer around reinforcement learning (RL) that searches for a deep RL reward and neural network architecture with large-scale hyper-parameter optimization. AutoRL first finds a reward that maximizes task completion and then finds a neural network architecture that maximizes the cumulative of the found reward. Empirical evaluations, both in simulation and on-robot, show that AutoRL policies do not suffer from the catastrophic forgetfulness that plagues many other deep reinforcement learning algorithms, generalize to new environments and moving obstacles, are robust to sensor, actuator, and localization noise, and can serve as robust building blocks for larger navigation tasks. Our path-following and point-to-point policies are, respectively, 23% and 26% more successful than comparison methods across new environments.
A Deep Look into neural ranking models for information retrieval

Ranking models lie at the heart of research on information retrieval (IR). During the past decades, different techniques have been proposed for constructing ranking models, from traditional heuristic methods, probabilistic methods, to modern machine learning methods. Recently, with the advance of deep learning technology, we have witnessed a growing body of work in applying shallow or deep neural networks to the ranking problem in IR, referred to as neural ranking models in this paper. The power of neural ranking models lies in the ability to learn from the raw text inputs for the ranking problem to avoid many limitations of hand-crafted features. Neural networks have sufficient capacity to model complicated tasks, which is needed to handle the complexity of relevance estimation in ranking. Since there have been a large variety of neural ranking models proposed, we believe it is the right time to summarize the current status, learn from existing methodologies, and gain some insights for future development. In contrast to existing reviews, in this survey, we will take a deep look into the neural ranking models from different dimensions to analyze their underlying assumptions, major design principles, and learning strategies. We compare these models through benchmark tasks to obtain a comprehensive empirical understanding of the existing techniques. We will also discuss what is missing in the current literature and what are the promising and desired future directions.
Weakly Supervised Learning with Multi-Stream CNN-LSTM-HMMs to Discover Sequential Parallelism in Sign Language Videos

In this work we present a new approach to the field of weakly supervised learning in the video domain. Our method is relevant to sequence learning problems which can be split up into sub-problems that occur in parallel. Here, we experiment with sign language data. The approach exploits sequence constraints within each independent stream and combines them by explicitly imposing synchronisation points to make use of parallelism that all sub-problems share. We do this with multi-stream HMMs while adding intermediate synchronisation constraints among the streams. We embed powerful CNN-LSTM models in each HMM stream following the hybrid approach. This allows the discovery of attributes which on their own lack sufficient discriminative power to be identified. We apply the approach to the domain of sign language recognition exploiting the sequential parallelism to learn sign language, mouth shape and hand shape classifiers. We evaluate the classifiers on three publicly available benchmark data sets featuring challenging real-life sign language with over 1,000 classes, full sentence based lip-reading and articulated hand shape recognition on a fine-grained hand shape taxonomy featuring over 60 different hand shapes. We clearly outperform the state-of-the-art on all data sets and observe significantly faster convergence using the parallel alignment approach.
Fast hierarchical Bayesian analysis of population structure

We present fastbaps, a fast solution to the genetic clustering problem. Fastbaps rapidly identifies an approximate fit to a Dirichlet process mixture model (DPM) for clustering multilocus genotype data. Our efficient model-based clustering approach is able to cluster datasets 10-100 times larger than the existing model-based methods, which we demonstrate by analyzing an alignment of over 110 000 sequences of HIV-1 pol genes. We also provide a method for rapidly partitioning an existing hierarchy in order to maximize the DPM model marginal likelihood, allowing us to split phylogenetic trees into clades and subclades using a population genomic model. Extensive tests on simulated data as well as a diverse set of real bacterial and viral datasets show that fastbaps provides comparable or improved solutions to previous model-based methods, while being significantly faster. The method is made freely available under an open source MIT licence as an easy to use R package at https://github.com/gtonkinhill/fastbaps.
Routing entanglement in the quantum internet

Abstract Remote quantum entanglement can enable numerous applications including distributed quantum computation, secure communication, and precision sensing. We consider how a quantum network—nodes equipped with limited quantum processing capabilities connected via lossy optical links—can distribute high-rate entanglement simultaneously between multiple pairs of users. We develop protocols for such quantum “repeater” nodes, which enable a pair of users to achieve large gains in entanglement rates over using a linear chain of quantum repeaters, by exploiting the diversity of multiple paths in the network. Additionally, we develop repeater protocols that enable multiple user pairs to generate entanglement simultaneously at rates that can far exceed what is possible with repeaters time sharing among assisting individual entanglement flows. Our results suggest that the early-stage development of quantum memories with short coherence times and implementations of probabilistic Bell-state measurements can have a much more profound impact on quantum networks than may be apparent from analyzing linear repeater chains. This framework should spur the development of a general quantum network theory, bringing together quantum memory physics, quantum information theory, quantum error correction, and computer network theory.
HoloPose: Holistic 3D Human Reconstruction In-The-Wild

We introduce HoloPose, a method for holistic monocular 3D human body reconstruction. We first introduce a part-based model for 3D model parameter regression that allows our method to operate in-the-wild, gracefully handling severe occlusions and large pose variation. We further train a multi-task network comprising 2D, 3D and Dense Pose estimation to drive the 3D reconstruction task. For this we introduce an iterative refinement method that aligns the model-based 3D estimates of 2D/3D joint positions and DensePose with their image-based counterparts delivered by CNNs, achieving both model-based, global consistency and high spatial accuracy thanks to the bottom-up CNN processing. We validate our contributions on challenging benchmarks, showing that our method allows us to get both accurate joint and 3D surface estimates while operating at more than 10fps in-the-wild. More information about our approach, including videos and demos is available at http://arielai.com/holopose.
A decentralized token economy: How blockchain and cryptocurrency can revolutionize business

As the underlying technology of bitcoin, blockchain is expected to create a new economic system by revolutionizing the way we communicate over the internet. Blockchain seeks to improve information security and transparency by sharing encrypted data among peer-to-peer (P2P) networks. Due to its emphasis on security and trust, there is increased demand for blockchain’s application in a variety of business sectors. The decentralized nature of blockchain creates the new concept of a token economy in which the community’s revenue can be allocated to the actual content producers and service users who create value. This article looks at how blockchain technology and cryptocurrencies are evolving and interconnected, creating a token economy through different business models. Blockchain is expected to be a key technology that enables new protocols for the establishment of a token economy in the future, leading to a new economic paradigm.
Occupancy Flow: 4D Reconstruction by Learning Particle Dynamics

Deep learning based 3D reconstruction techniques have recently achieved impressive results. However, while state-of-the-art methods are able to output complex 3D geometry, it is not clear how to extend these results to time-varying topologies. Approaches treating each time step individually lack continuity and exhibit slow inference, while traditional 4D reconstruction methods often utilize a template model or discretize the 4D space at fixed resolution. In this work, we present Occupancy Flow, a novel spatio-temporal representation of time-varying 3D geometry with implicit correspondences. Towards this goal, we learn a temporally and spatially continuous vector field which assigns a motion vector to every point in space and time. In order to perform dense 4D reconstruction from images or sparse point clouds, we combine our method with a continuous 3D representation. Implicitly, our model yields correspondences over time, thus enabling fast inference while providing a sound physical description of the temporal dynamics. We show that our method can be used for interpolation and reconstruction tasks, and demonstrate the accuracy of the learned correspondences. We believe that Occupancy Flow is a promising new 4D representation which will be useful for a variety of spatio-temporal reconstruction tasks.
Sentiment Analysis in Social Media and Its Application: Systematic Literature Review

This paper is a report of a review on sentiment analysis in social media that explored the methods, social media platform used and its application. Social media contain a large amount of raw data that has been uploaded by users in the form of text, videos, photos and audio. The data can be converted into valuable information by using sentiment analysis. A systematic review of studies published between 2014 to 2019 was undertaken using the following trusted and credible database including ACM, Emerald Insight, IEEE Xplore, Science Direct and Scopus. After the initial and in-depth screening of paper, 24 out of 77 articles have been chosen from the review process. The articles have been reviewed based on the aim of the study. The result shows most of the articles applied opinion-lexicon method to analyses text sentiment in social media, extracted data on microblogging site mainly Twitter and sentiment analysis application can be seen in world events, healthcare, politics and business.
An improved DWT-SVD domain watermarking for medical information security

Exchange of patient record over network required a technique to guarantee security and privacy for tele-health services. This paper presents an improved watermarking technique capable of providing protection of patient data by embedding multi-watermarks in medical cover image using DWT-SVD domain. Prior to embedding, Hamming code is applied to text watermark in order to reduce channel noise distortion for the sensitive data. After embedding, the watermarked medical image is encrypted then compressed. Out of two encryption method and three compression scheme tested, combination of Chaotic-LZW shows the best performance. However, HyperChaotic-LZW combination is more robust against Gaussian, JPEG compression, speckle noise and histogram equalization attacks. We illustrate the good results in terms of objective and subjective evaluation, and verify its robustness for various attacks while maintaining imperceptibility, security and compression ratio. Experimental results demonstrate that the suggested technique archives high robustness against attacks in comparison to the other scheme for medical images.
Meta-Transfer Learning for Zero-Shot Super-Resolution

Convolutional neural networks (CNNs) have shown dramatic improvements in single image super-resolution (SISR) by using large-scale external samples. Despite their remarkable performance based on the external dataset, they cannot exploit internal information within a specific image. Another problem is that they are applicable only to the specific condition of data that they are supervised. For instance, the low-resolution (LR) image should be a "bicubic" downsampled noise-free image from a high-resolution (HR) one. To address both issues, zero-shot super-resolution (ZSSR) has been proposed for flexible internal learning. However, they require thousands of gradient updates, i.e., long inference time. In this paper, we present Meta-Transfer Learning for Zero-Shot Super-Resolution (MZSR), which leverages ZSSR. Precisely, it is based on finding a generic initial parameter that is suitable for internal learning. Thus, we can exploit both external and internal information, where one single gradient update can yield quite considerable results. With our method, the network can quickly adapt to a given image condition. In this respect, our method can be applied to a large spectrum of image conditions within a fast adaptation process.
Learning Data Augmentation Strategies for Object Detection

Much research on object detection focuses on building better model architectures and detection algorithms. Changing the model architecture, however, comes at the cost of adding more complexity to inference, making models slower. Data augmentation, on the other hand, doesn’t add any inference complexity, but is insufficiently studied in object detection for two reasons. First it is more difficult to design plausible augmentation strategies for object detection than for classification, because one must handle the complexity of bounding boxes if geometric transformations are applied. Secondly, data augmentation attracts less research attention perhaps because it is believed to add less value and to transfer poorly compared to advances in network architectures. This paper serves two main purposes. First, we propose to use AutoAugment [3] to design better data augmentation strategies for object detection because it can address the difficulty of designing them. Second, we use the method to assess the value of data augmentation in object detection and compare it against the value of architectures. Our investigation into data augmentation for object detection identifies two surprising results. First, by changing the data augmentation strategy to our method, AutoAugment for detection, we can improve RetinaNet with a ResNet-50 backbone from 36.7 to 39.0 mAP on COCO, a difference of +2.3 mAP. This gain exceeds the gain achieved by switching the backbone from ResNet-50 to ResNet-101 (+2.1 mAP), which incurs additional training and inference costs. The second surprising finding is that our strategies found on the COCO dataset transfer well to the PASCAL dataset to improve accuracy by +2.7 mAP. These results together with our systematic studies of data augmentation call into question previous assumptions about the role and transferability of architectures versus data augmentation. In particular, changing the augmentation may lead to performance gains that are equally transferable as changing the underlying architecture.
3D-CVF: Generating Joint Camera and LiDAR Features Using Cross-view Spatial Feature Fusion for 3D Object Detection

In this paper, we propose a new deep architecture for fusing camera and LiDAR sensors for 3D object detection. Because the camera and LiDAR sensor signals have different characteristics and distributions, fusing these two modalities is expected to improve both the accuracy and robustness of 3D object detection. One of the challenges presented by the fusion of cameras and LiDAR is that the spatial feature maps obtained from each modality are represented by significantly different views in the camera and world coordinates; hence, it is not an easy task to combine two heterogeneous feature maps without loss of information. To address this problem, we propose a method called 3D-CVF that combines the camera and LiDAR features using the cross-view spatial feature fusion strategy. First, the method employs auto-calibrated projection, to transform the 2D camera features to a smooth spatial feature map with the highest correspondence to the LiDAR features in the bird’s eye view (BEV) domain. Then, a gated feature fusion network is applied to use the spatial attention maps to mix the camera and LiDAR features appropriately according to the region. Next, camera-LiDAR feature fusion is also achieved in the subsequent proposal refinement stage. The low-level LiDAR features and camera features are separately pooled using region of interest (RoI)-based feature pooling and fused with the joint camera-LiDAR features for enhanced proposal refinement. Our evaluation, conducted on the KITTI and nuScenes 3D object detection datasets, demonstrates that the camera-LiDAR fusion offers significant performance gain over the LiDAR-only baseline and that the proposed 3D-CVF achieves state-of-the-art performance in the KITTI benchmark.
Review the state-of-the-art technologies of semantic segmentation based on deep learning

The goal of semantic segmentation is to segment the input image according to semantic information and predict the semantic category of each pixel from a given label set. With the gradual intellectualization of modern life, more and more applications need to infer relevant semantic information from images for subsequent processing, such as augmented reality, autonomous driving, video surveillance, etc. This paper reviews the state-of-the-art technologies of semantic segmentation based on deep learning. Because semantic segmentation requires a large number of pixel-level annotations, in order to reduce the fine-grained requirements of annotation and reduce the economic and time cost of manual annotation, this paper studies the works on weakly-supervised semantic segmentation. In order to enhance the generalization ability and robustness of the segmentation model, this paper investigates the works on domain adaptation in semantic segmentation. Many types of sensors are usually equipped in some practical applications, such as autonomous driving and medical image analysis. In order to mine the association between multi-modal data and improve the accuracy of the segmentation model, this paper investigates the works based on multi-modal data fusion semantic segmentation. The real-time performance of the model needs to be considered in practical application. This paper analyzes the key factors affecting the real-time performance of the segmentation model and investigates the works on real-time semantic segmentation. Finally, this paper summarizes the challenges and promising research directions of semantic segmentation tasks based on deep learning.
Renovating blockchain with distributed databases: An open source system

A blockchain is a decentralised linked data structure that is characterised by its inherent resistance to data modification, but it is deficient in search queries primarily due to its inferior data formatting. A distributed database is also a decentralised data structure which features quick query processing and well-designed data formatting but suffers from data reliability. In this work, we showcase ChainSQL, an open-source system developed by integrating the blockchain with the database, i.e. we present a blockchain database application platform that has the decentralised, distributed and audibility features of the blockchain and quick query processing and well-designed data structure of the distributed databases. ChainSQL features a tamper-resistant and consistent multi-active database, a reliable and cost effective data-level disaster recovery backup and an auditable transaction log mechanism. The system is presented as an operational multi-active database along with the data-level disaster recovery backup and audibility features. A comprehensive experimental evaluation is performed to demonstrate the effectiveness of the system.
RVOS: End-To-End Recurrent Network for Video Object Segmentation

Multiple object video object segmentation is a challenging task, specially for the zero-shot case, when no object mask is given at the initial frame and the model has to find the objects to be segmented along the sequence. In our work, we propose a Recurrent network for multiple object Video Object Segmentation (RVOS) that is fully end-to-end trainable. Our model incorporates recurrence on two different domains: (i) the spatial, which allows to discover the different object instances within a frame, and (ii) the temporal, which allows to keep the coherence of the segmented objects along time. We train RVOS for zero-shot video object segmentation and are the first ones to report quantitative results for DAVIS-2017 and YouTube-VOS benchmarks. Further, we adapt RVOS for one-shot video object segmentation by using the masks obtained in previous time steps as inputs to be processed by the recurrent module. Our model reaches comparable results to state-of-the-art techniques in YouTube-VOS benchmark and outperforms all previous video object segmentation methods not using online learning in the DAVIS-2017 benchmark. Moreover, our model achieves faster inference runtimes than previous methods, reaching 44ms/frame on a P100 GPU.
A Secure FaBric Blockchain-Based Data Transmission Technique for Industrial Internet-of-Things

The previous blockchain data transmission techniques in industrial Internet of Things (IoT) have low security, high management cost of the trading center, and big difficulty in supervision. To address these issues, this paper proposes a secure FaBric blockchain-based data transmission technique for industrial IoT. This technique uses the blockchain-based dynamic secret sharing mechanism. A reliable trading center is realized using the power blockchain sharing model, which can also share power trading books. The power data consensus mechanism and dynamic linked storage are designed to realize the secure matching of the power data transmission. Experiments show that the optimized FaBric power data storage and transmission has high security and reliability. The proposed technique can improve the transmission rate and packet receiving rate by 12% and 13%, respectively. Moreover, the proposed technique has good superiority in sharing management and decentralization.