Reviewerly/exHarmony huggingface dataset:
Hybrid Methodology for Path Planning and Computational Vision Applied to Autonomous Mission: A New Approach

SUMMARY In recent years, mobile robots have become increasingly frequent in daily life applications, such as cleaning, surveillance, support for the elderly and people with disabilities, as well as hazardous activities. However, a big challenge arises when the robotic system must perform a fully autonomous mission. The main problems of autonomous missions include path planning, localisation, and mapping. Thus, this research proposes a hybrid methodology for mobile robots on an autonomous mission involving an offline approach that uses the Direct-DRRT* algorithm and the artificial potential fields algorithm as the online planner. The experimental design covers three scenarios with an increasing degree of accuracy in respect of the real world. Additionally, an extensive evaluation of the proposed methodology is reported.
Self-Referenced Deep Learning

Knowledge distillation is an effective approach to transferring knowledge from a teacher neural network to a student target network for satisfying the low-memory and fast running requirements in practice use. Whilst being able to create stronger target networks compared to the vanilla non-teacher based learning strategy, this scheme needs to train additionally a large teacher model with expensive computational cost. In this work, we present a Self-Referenced Deep Learning (SRDL) strategy. Unlike both vanilla optimisation and existing knowledge distillation, SRDL distils the knowledge discovered by the in-training target model back to itself to regularise the subsequent learning procedure therefore eliminating the need for training a large teacher model. SRDL improves the model generalisation performance compared to vanilla learning and conventional knowledge distillation approaches with negligible extra computational cost. Extensive evaluations show that a variety of deep networks benefit from SRDL resulting in enhanced deployment performance on both coarse-grained object categorisation tasks (CIFAR10, CIFAR100, Tiny ImageNet, and ImageNet) and fine-grained person instance identification tasks (Market-1501).
Multi-dimensional balanced graph partitioning via projected gradient descent

Motivated by performance optimization of large-scale graph processing systems that distribute the graph across multiple machines, we consider the balanced graph partitioning problem. Compared to most of the previous work, we study the multi-dimensional variant in which balance according to multiple weight functions is required. As we demonstrate by experimental evaluation, such multi-dimensional balance is essential for achieving performance improvements for typical distributed graph processing workloads. We propose a new scalable technique for the multidimensional balanced graph partitioning problem. It is based on applying randomized projected gradient descent to a non-convex continuous relaxation of the objective. We show how to implement the new algorithm efficiently in both theory and practice utilizing various approaches for the projection step. Experiments with large-scale graphs containing up to hundreds of billions of edges indicate that our algorithm has superior performance compared to the state of the art.
Siamese Generative Adversarial Privatizer for Biometric Data

State-of-the-art machine learning algorithms can be fooled by carefully crafted adversarial examples. As such, adversarial examples present a concrete problem in AI safety. In this work we turn the tables and ask the following question: can we harness the power of adversarial examples to prevent malicious adversaries from learning identifying information from data while allowing non-malicious entities to benefit from the utility of the same data? For instance, can we use adversarial examples to anonymize biometric dataset of faces while retaining usefulness of this data for other purposes, such as emotion recognition? To address this question, we propose a simple yet effective method, called Siamese Generative Adversarial Privatizer (SGAP), that exploits the properties of a Siamese neural network to find discriminative features that convey identifying information. When coupled with a generative model, our approach is able to correctly locate and disguise identifying information, while minimally reducing the utility of the privatized dataset. Extensive evaluation on a biometric dataset of fingerprints and cartoon faces confirms usefulness of our simple yet effective method.
Social Emotional Opinion Decision with Newly Coined Words and Emoticon Polarity of Social Networks Services

Nowadays, based on mobile devices and internet, social network services (SNS) are common trends to everyone. Social opinions as public opinions are very important to the government, company, and a person. Analysis and decision of social polarity of SNS about social happenings, political issues and government policies, or commercial products is very critical to the government, company, and a person. Newly coined words and emoticons on SNS are created every day. Specifically, emoticons are made and sold by a person or companies. Newly coined words are mostly made and used by various kinds of communities. The SNS big data mainly consist of normal text with newly coined words and emoticons so that newly coined words and emoticons analysis is very important to understand the social and public opinions. Social big data is informally made and unstructured, and on social network services, many kinds of newly coined words and various emoticons are made anonymously and unintentionally by people and companies. In the analysis of social data, newly coined words and emoticons limit the guarantee the accuracy of analysis. The newly coined words implicitly contain the social opinions and trends of people. The emotional states of people significantly are expressed by emoticons. Although the newly coined words and emoticons are an important part of the social opinion analysis, they are excluded from the emotional dictionary and social big data analysis. In this research, newly coined words and emoticons are extracted from the raw Twitter’s twit messages and analyzed and included in a pre-built dictionary with the polarity and weight of the newly coined words and emoticons. The polarity and weight are calculated for emotional classification. The proposed emotional classification algorithm calculates the weight of polarity (positive or negative) and results in total polarity weight of social opinion. If the total polarity weight of social opinion is more than the pre-fixed threshold value, the twit message is decided as positive. If it is less than the pre-fixed threshold value, the twit message is decided as negative and the other values mean neutral opinion. The accuracy of the social big data analysis result is improved by quantifying and analyzing emoticons and newly coined words.
Attentive Neural Network for Named Entity Recognition in Vietnamese

We propose an attentive neural network for the task of named entity recognition in Vietnamese. The proposed attentive neural model makes use of character-based language models and word embeddings to encode words as vector representations. A neural network architecture of encoder, attention, and decoder layers is then utilized to encode knowledge of input sentences and to label entity tags. The experimental results show that the proposed attentive neural network achieves the state-of-the-art results on the benchmark named entity recognition datasets in Vietnamese in comparison to both hand-crafted features based models and neural models.
Letter graphs and geometric grid classes of permutations: Characterization and recognition

In this paper, we reveal an intriguing relationship between two seemingly unrelated notions: letter graphs and geometric grid classes of permutations. An important property common for both of them is well-quasi-orderability, implying, in a non-constructive way, a polynomial-time recognition of geometric grid classes of permutations and k-letter graphs for a fixed k. However, explicit algorithms are available only for k=2. In this paper, we present the first explicit polynomial-time algorithm for the recognition of 3-letter graphs over a cyclic decoder. It is based on a structural characterization of graphs in this class.
GPSfM: Global Projective SFM Using Algebraic Constraints on Multi-View Fundamental Matrices

This paper addresses the problem of recovering projective camera matrices from collections of fundamental matrices in multiview settings. We make two main contributions. First, given ( <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">n</sup> ) fundamental matrices computed for n images, we provide a complete algebraic characterization in the form of conditions that are both necessary and sufficient to enabling the recovery of camera matrices. These conditions are based on arranging the fundamental matrices as blocks in a single matrix, called the n-view fundamental matrix, and characterizing this matrix in terms of the signs of its eigenvalues and rank structures. Secondly, we propose a concrete algorithm for projective structure-formation that utilizes this characterization. Given a complete or partial collection of measured-fundamental matrices, our method seeks camera matrices that minimize a global algebraic error for the measured fundamental matrices. In contrast to existing methods, our optimization, without any initialization, produces a consistent set of fundamental matrices that corresponds to a unique set of cameras (up to a choice of projective frame). Our experiments indicate that our method achieves state of the art performance in both accuracy and running time.
Improved Consistent Weighted Sampling Revisited

Min-Hash is a popular technique for efficiently estimating the Jaccard similarity of binary sets. Consistent Weighted Sampling (CWS) generalizes the Min-Hash scheme to sketch weighted sets and has drawn increasing interest from the community. Due to its constant-time complexity independent of the values of the weights, Improved CWS (ICWS) is considered as the state-of-the-art CWS algorithm. In this paper, we revisit ICWS and analyze its underlying mechanism to show that there actually exists dependence between the two components of the hash-code produced by ICWS, which violates the condition of independence. To remedy the problem, we propose an Improved ICWS (I <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> CWS) algorithm which not only shares the same theoretical computational complexity as ICWS but also abides by the required conditions of the CWS scheme. The experimental results on a number of synthetic data sets and real-world text data sets demonstrate that our I <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> CWS algorithm can estimate the Jaccard similarity more accurately, and also competes with or outperforms the compared methods, including ICWS, in classification and top-K retrieval, after relieving the underlying dependence.
Improvement of query-based text summarization using word sense disambiguation

In this paper, a query-based text summarization method is proposed based on common sense knowledge and word sense disambiguation. Common sense knowledge is integrated here by expanding the query terms. It helps in extracting main sentences from text document according to the query. Query-based text summarization finds semantic relatedness score between query and input text document for extracting sentences. The drawback with current methods is that while finding semantic relatedness between input text and query, in general they do not consider the sense of the words present in the input text sentences and the query. However, this particular method can enhance the summary quality as it finds the correct sense of each word of a sentence with respect to the context of the sentence. The correct sense for each word is being used while finding semantic relatedness between input text and query. To remove similar sentences from summary, similarity measure is computed among the selected sentences. Experimental result shows better performance than many baseline systems.
Correction of “A Comparative Study to Benchmark Cross-Project Defect Prediction Approaches”

Unfortunately, the article “A Comparative Study to Benchmark Cross-project Defect Prediction Approaches” has a problem in the statistical analysis which was pointed out almost immediately after the pre-print of the article appeared online. While the problem does not negate the contribution of the the article and all key findings remain the same, it does alter some rankings of approaches used in the study. Within this correction, we will explain the problem, how we resolved it, and present the updated results.
Variational Quantum Circuit Model for Knowledge Graph Embedding

Abstract In this work, the first quantum Ansätze for the statistical relational learning on knowledge graphs using parametric quantum circuits are proposed. Two types of variational quantum circuits for knowledge graph embedding are introduced. Inspired by the classical representation learning, latent features for entities are first considered as coefficients of quantum states, while predicates are characterized by parametric gates acting on the quantum states. For the first model, the quantum advantages disappear when it comes to the optimization of this model. Therefore, a second quantum circuit model is introduced where embeddings of entities are generated from parameterized quantum gates acting on the pure quantum state. The benefit of the second method is that the quantum embeddings can be trained efficiently meanwhile preserving the quantum advantages. It is shown that the proposed methods can achieve comparable results to the state‐of‐the‐art classical models, for example, RESCAL , DistMult . Furthermore, after optimizing the models, the complexity of inductive inference on the knowledge graphs might be reduced with respect to the number of entities.
A method for online transaction fraud detection based on individual behavior

Nowadays, judging the current transaction based on user history transactions is an important detection method. However, different users have different transaction behaviors, when all users use the same limit to judge whether the transaction is abnormal, it will result in higher misjudgment for some users. Aiming at the above problems, this paper proposes an individual behavior transaction detection method based on hypersphere model. In this model, considering multiple dimensions of normal historical transaction records, the characteristics of user's transaction behavior is generated with the trend of transaction. Then, the user optimal risk threshold algorithm is proposed to determine the optimal risk threshold for each user. Finally combining the transaction behavior and the optimal risk threshold, the user behavior benchmark is formed, which is used to construct the multidimensional hypersphere model. On this basis, a mapping method for transforming transaction detection into midpoint in multidimensional space is proposed. The experiment proves that the proposed method is superior to other models, and it is found that the characterization effect of user behavior is related to the frequency of users' transactions.
Real-time autonomous navigation of an electric wheelchair in large-scale urban area with 3D map

This paper presents the real-time autonomous navigation of an electric wheelchair in a large-scale urban area. Accurate self-pose localization and well-chosen motion control are crucial for application to urban areas, as electric wheelchairs move on paved roads in dynamic environments and travel along sidewalks at a brisk speed. Our system is equipped with a localization module based on a 3D map and a path planning module based on a navigation map. However, the large-scale 3D map causes a high memory load, and the embedded PC can not deal with the map data. In addition, the large-scale navigation map increases the computational cost of path planning, which causes delays in navigation. To achieve real-time navigation independent of map size, we propose a 6-DoF pose localization switching reference 3D map and a two-step path planning framework. We ran tests by using an electric wheelchair on a real street in Tokyo and found that the proposed navigation system achieved autonomous navigation for over 8.8 km in about 133 minutes. The experimental results showed that the memory load was kept constant and the path planning was performed at high frequency, regardless of the size of the map or the distance to the destination.
Local Graph Reconstruction for Parameter Free Unsupervised Feature Selection

Facing with the absence of supervised information to guide the search of relevant features and the grid-search of model/hyper-parameters, it is more preferred to develop parameter-free methods and avoid additional hyper-parameters tuning. In this paper, we propose a new simple and effective parameter-free unsupervised feature selection algorithm by minimizing the linear reconstruction weight between the nearest neighbor graphs constructed from all candidate features and each single feature. The obtained global optimal reconstruction weights actually select those features with highest relevance and lowest redundancy simultaneously. The experimental results on many benchmark data sets demonstrate that the proposed method outperforms many of the state-of-the-art unsupervised feature selection methods.
VIENA $$^2$$ : A Driving Anticipation Dataset

Action anticipation is critical in scenarios where one needs to react before the action is finalized. This is, for instance, the case in automated driving, where a car needs to, e.g., avoid hitting pedestrians and respect traffic lights. While solutions have been proposed to tackle subsets of the driving anticipation tasks, by making use of diverse, task-specific sensors, there is no single dataset or framework that addresses them all in a consistent manner. In this paper, we therefore introduce a new, large-scale dataset, called VIENA $$^2$$ , covering 5 generic driving scenarios, with a total of 25 distinct action classes. It contains more than 15K full HD, 5 s long videos acquired in various driving conditions, weathers, daytimes and environments, complemented with a common and realistic set of sensor measurements. This amounts to more than 2.25M frames, each annotated with an action label, corresponding to 600 samples per action class. We discuss our data acquisition strategy and the statistics of our dataset, and benchmark state-of-the-art action anticipation techniques, including a new multi-modal LSTM architecture with an effective loss function for action anticipation in driving scenarios.
An assessment of the impact of wireless interferences on IoT emitter identification using Time Frequency representations and CNN

In this paper, we investigate the impact of wireless interferences on the physical Layer Authentication of wireless devices. The concept of physical layer authentication is to identify wireless devices from their RF emissions, which contain specific features (also called RF fingerprints) of the transmitter chain in the wireless device. This concept is also called Special Emitter Identification (SEI) or Radio Frequency-DNA (RF-DNA) and it has been researched in recent years using different techniques and machine learning algorithms. In ideal conditions, the classification accuracy presented in research literature can be often higher than 95% but it can degrade significantly in presence of non Line of Sight conditions or disturbances. The research community has investigated the impact of low Signal to Noise (SNR) ratios or fading effects on the classification performance, but the disturbances introduced by the presence of wireless interference has received little attention, even if this can be a common problem in unlicensed bands, where many different wireless standards could coexist. To address this gap, this paper presents an evaluation of emitter identification of IoT devices transmitting in unlicensed Industrial, Scientific and Medical (ISM) bands and in presence of wireless interference. We perform the classification using a Deep Learning approach based on stacked CNNs with different representations of the signal in the time, frequency and time-frequency domains. The result shows that the choice of the representation is quite significant to obtain a superior classification performance and that the best results are obtained using a representation based on the Continuous Wavelet Transform (CWT).
Understanding Cyber Athletes Behaviour Through a Smart Chair: CS:GO and Monolith Team Scenario

eSports is the rapidly developing multidisciplinary domain. However, research and experimentation in eSports are in the infancy. In this work, we propose a smart chair platform - an unobtrusive approach to the collection of data on the eSports athletes and data further processing with machine learning methods. The use case scenario involves three groups of players: cyber athletes (Monolith team), semi-professional players and newbies all playing CS:GO discipline. In particular, we collect data from the accelerometer and gyroscope integrated in the chair and apply machine learning algorithms for the data analysis. Our results demonstrate that the professional athletes can be identified by their behaviour on the chair while playing the game.
Automated reasoning in normative detachment structures with ideal conditions

In this article we introduce a logical structure for normative reasoning, called Normative Detachment Structure with Ideal Conditions, that can be used to represent the content of certain legal texts in a normalized way. The structure exploits the deductive properties of a system of bimodal logic able to distinguish between ideal and actual normative statements, as well as a novel formalization of conditional normative statements able to capture interesting cases of contrary-to-duty reasoning and to avoid deontic paradoxes. Furthermore, we illustrate how the theoretical framework proposed can be mechanized to get an automated procedure of query-answering on an example of legal text.