Reviewerly/exHarmony huggingface dataset:
An overview: on path planning optimization criteria and mobile robot navigation

Abstract Mobile robots are growing more significant from time to time and have been applied to many fields such as agriculture, space, and even human life. It could improve mobile robot navigation efficiency, ensure path planning safety and smoothness, minimize time execution, etc. The main focus of mobile robots is to have the most optimal functions. An intelligent mobile robot is required to travel autonomously in various environments, static and dynamic. This paper article presents the optimization criteria for mobile robot path planning to figure out the most optimal mobile robot criteria to fulfill, including modeling analysis, path planning and implementation. Path length and path smoothness are the most parameters used in optimization in mobile robot path planning. Based on path planning, the mobile robot navigation is divided into three categories: global navigation, local navigation and personal navigation. Then, we review each category and finally summarize the categories in a map and discuss the future research strategies.
A data-efficient goal-directed deep reinforcement learning method for robot visuomotor skill

Deep reinforcement learning (DRL) has provided an effective end to end approach for autonomous robot skill learning. However, the task goal in most DRL approaches is always single and fixed which restricts the flexibility of policy. In addition, the data inefficiency also makes it impractical to applied on real-world robots. To address these problems, this paper proposes a data-efficient goal-directed DRL method for robotic skill learning. First, an asymmetric deep deterministic policy gradients algorithm is constructed as the basic framework of the method by taking advantage of the low-dimensional physical state accessible in simulations. Then, a Siamese representation learning network is designed to embed the RGB observation and the human intention at the same feature space to realize human-robot intention transfer. And, an auxiliary similarity evaluation network is added to the DRL algorithm to accelerate representation learning. Finally, a domain randomization method is employed to transfer the learned policies from simulation to reality. In experiments, two typical robotic tasks are set up to evaluate the proposed method. The experimental results validate the effectiveness of the proposed method. The trained robot can switch among multiple goals automatically according to human intentions. And, the Siamese representation learning network and auxiliary similarity evaluation network can improve data efficiency effectively.
OCEAn: Ordinal classification with an ensemble approach

Generally, classification problems catalog instances according to their target variable without considering the relation among the different labels. However, there are real problems in which the different values of the class are related to each other. Because of interest in this type of problem, several solutions have been proposed, such as cost-sensitive classifiers. Ensembles have proven to be very effective for classification tasks; however, as far as we know, there are no proposals that use a genetic-based methodology as the metaheuristic to create the models. In this paper, we present OCEAn, an ordinal classification algorithm based on an ensemble approach, which makes a final prediction according to a weighted vote system. This weighted voting takes into account weights obtained by a genetic algorithm that tries to minimize the cost of classification. To test the performance of this approach, we compared our proposal with ordinal classification algorithms in the literature and demonstrated that, indeed, our approach improves on previous results.
Determinants of Artificial Intelligence Systems and Its Impact on the Performance of Accounting Firms

The study intends to identify and validate the various determinants of artificial intelligence (AI) systems and also aims to investigate its impact on the performance of accounting firms. A sample of 176 accountants working in accounting firms of Delhi-NCR was taken to test the literature-driven conceptual models. The data for the study were collected using a self-administered questionnaire based on 5-point Likert’s scale using convenience sampling. Hypotheses were tested using factor analysis and structural equation modeling. Cronbach alpha and KMO and Bartlett test were also being applied to measure internal consistency and to test sample adequacy. The present study discloses that artificial intelligence (AI) will help accountants to work better and smarter and would also contribute to provide better quality accounting work by eliminating errors and frauds. The present study is among few studies, which have empirically investigated the impact of AI on the performance of accounting firms.
A Novel Lightweight Block Encryption Algorithm Based on Combined Chaotic S-Box

Due to high computational cost, traditional encryption algorithms are not suitable for the environments in which resources are limited. In view of the above problem, we first propose a combined chaotic map to increase the chaotic interval and Lyapunov exponent of the existing one-dimensional chaotic maps. Then, an S-box based on the proposed combined chaotic map is constructed. The performances of the designed S-box, such as bijection, nonlinearity, strict avalanche criteria, differential uniformity, the bits independence criterion, and the linear approximation probability, are tested to show that it has better cryptographic performances. Finally, we present a lightweight block encryption algorithm by using the above S-box. The algorithm is based on the generalized Feistel structure and SPN structure. In addtion, the processes of encryption and decryption of our algorithm are almost the same, which reduces the complexity of algorithm implementation. The experimental results show that the proposed encryption algorithm meets the requirements of lightweight algorithms and has good cryptographic characteristics.
DPLQ: Location‐based service privacy protection scheme based on differential privacy

The existing privacy protection schemes for Location-Based Service (LBS) only protect users' location privacy or query privacy, which can not adopt both of the privacy protections simultaneously in the LBS system. Moreover, these schemes cannot take into account the spatial-temporal correlation and background knowledge. In response to the above mentioned questions, the LBS Privacy Protection Scheme Based on Differential Privacy (DPLQ) is proposed. The method contains two kinds of privacy protection algorithms: users' location privacy protection algorithm and users' query privacy protection algorithm. The users' location privacy protection algorithm divides the map using the Voronoi diagram, choosing l fake location points based on the improved k-means algorithm and l-diversity idea, and protects users' location privacy with the Laplace mechanism. Based on the k-anonymous algorithm, the users' query privacy protection algorithm builds a query k-anonymous set according to the neighbour users' query requests at the same time t in the cluster and the historical query probability of the region’s POI and protects users' query privacy with the exponential mechanism. Through setting the privacy protection intensity of the algorithm by the users, the generated location dataset and query k-anonymous set can resist a variety of attacks from malicious attackers. Theoretical analysis and experimental results show that the scheme can effectively protect the location privacy and query privacy of users.
Global Pooling, More than Meets the Eye: Position Information is Encoded Channel-Wise in CNNs

In this paper, we challenge the common assumption that collapsing the spatial dimensions of a 3D (spatial-channel) tensor in a convolutional neural network (CNN) into a vector via global pooling removes all spatial information. Specifically, we demonstrate that positional information is encoded based on the ordering of the channel dimensions, while semantic information is largely not. Following this demonstration, we show the real world impact of these findings by applying them to two applications. First, we propose a simple yet effective data augmentation strategy and loss function which improves the translation invariance of a CNN’s output. Second, we propose a method to efficiently determine which channels in the latent representation are responsible for (i) encoding overall position information or (ii) region-specific positions. We first show that semantic segmentation has a significant reliance on the overall position channels to make predictions. We then show for the first time that it is possible to perform a ‘region-specific’ attack, and degrade a network’s performance in a particular part of the input. We believe our findings and demonstrated applications will benefit research areas concerned with understanding the characteristics of CNNs. Code is available at: https://github.com/islamamirul/PermuteNet.
Data Pre-Processing Using Neural Processes for Modeling Personalized Vital-Sign Time-Series Data

Clinical time-series data retrieved from electronic medical records are widely used to build predictive models of adverse events to support resource management. Such data is often sparse and irregularly-sampled, which makes it challenging to use many common machine learning methods. Missing values may be interpolated by carrying the last value forward, or through linear regression. Gaussian process (GP) regression is also used for performing imputation, and often re-sampling of time-series at regular intervals. The use of GPs can require extensive, and likely adhoc, investigation to determine model structure, such as an appropriate covariance function. This can be challenging for multivariate real-world clinical data, in which time-series variables exhibit different dynamics to one another. In this work, we construct generative models to estimate missing values in clinical time-series data using a neural latent variable model, known as a Neural Process (NP). The NP model employs a conditional prior distribution in the latent space to learn global uncertainty in the data by modelling variations at a local level. In contrast to conventional generative modelling, this prior is not fixed and is itself learned during the training process. Thus, NP model provides the flexibility to adapt to the dynamics of the available clinical data. We propose a variant of the NP framework for efficient modelling of the mutual information between the latent and input spaces, ensuring meaningful learned priors. Experiments using the MIMIC III dataset demonstrate the effectiveness of the proposed approach as compared to conventional methods.
A complete restricted Boltzmann machine on an adiabatic quantum computer

Boltzmann Machines constitute a paramount class of neural networks for unsupervised learning and recommendation systems. Their bipartite version, called Restricted Boltzmann Machine (RBM), is the most developed because of its satisfactory trade-off between computability on classical computers and computational power. Though the diffusion of RBMs is quite limited as their training remains hard. Recently, a renewed interest has emerged as Adiabatic Quantum Computers (AQCs), which suggest a potential increase of the training speed with respect to conventional hardware. Due to the limited number of connections among the qubits forming the graph of existing hardware, associating one qubit per node of the neural network implies an incomplete graph. Thanks to embedding techniques, we developed a complete graph connecting nodes constituted by virtual qubits. The complete graph outperforms previous implementations based on incomplete graphs. Despite the fact that the learning rate per epoch is still slower with respect to a classical machine, the advantage is expected by the increase of number of nodes which impacts on the classical computational time but not on the quantum hardware based computation.
Cross-platform Item Recommendation for Online Social E-Commerce

Social e-commerce uses social media as a new prevalent platform for online shopping. In this paper, we address the problem of cross-platform recommendation for social e-commerce, i.e., recommending products to users when they are shopping through social media. To the best of our knowledge, this is a new and important problem for all e-commerce companies (e.g. Amazon, Alibaba), but has never been studied before. Existing cross-platform and social related recommendation methods cannot be applied directly to this problem since they do not co-consider the social information and the cross-platform characteristics together. To study this problem, we collect two real-world datasets from social e-commerce services. We first investigate the heterogeneous shopping behaviors between traditional e-commerce app and social media. Based on these observations from data, we propose CROSS (Cross-platform Recommendation for Online Shopping in Social Media), a recommendation framework utilizing not only user-item interaction data on both platforms, but also social relation data on social media. The framework is general and we propose two variants, CROSS-MF and CROSS-NCF. Extensive experiments on two real-world social e-commerce datasets demonstrate that our proposed CROSS significantly outperforms existing state-of-the-art methods.
Occlusion-Based Explanations in Deep Recurrent Models for Biomedical Signals

The biomedical field is characterized by an ever-increasing production of sequential data, which often come in the form of biosignals capturing the time-evolution of physiological processes, such as blood pressure and brain activity. This has motivated a large body of research dealing with the development of machine learning techniques for the predictive analysis of such biosignals. Unfortunately, in high-stakes decision making, such as clinical diagnosis, the opacity of machine learning models becomes a crucial aspect to be addressed in order to increase the trust and adoption of AI technology. In this paper, we propose a model agnostic explanation method, based on occlusion, that enables the learning of the input’s influence on the model predictions. We specifically target problems involving the predictive analysis of time-series data and the models that are typically used to deal with data of such nature, i.e., recurrent neural networks. Our approach is able to provide two different kinds of explanations: one suitable for technical experts, who need to verify the quality and correctness of machine learning models, and one suited to physicians, who need to understand the rationale underlying the prediction to make aware decisions. A wide experimentation on different physiological data demonstrates the effectiveness of our approach both in classification and regression tasks.
Clustering and Classification Based on Distributed Automatic Feature Engineering for Customer Segmentation

To beat competition and obtain valuable information, decision-makers must conduct in-depth machine learning or data mining for data analytics. Traditionally, clustering and classification are two common methods used in machine mining. For clustering, data are divided into various groups according to the similarity or common features. On the other hand, classification refers to building a model by given training data, where the target class or label is predicted for the test data. In recent years, many researchers focus on the hybrid of clustering and classification. These techniques have admirable achievements, but there is still room to ameliorate performances, such as distributed process. Therefore, we propose clustering and classification based on distributed automatic feature engineering (AFE) for customer segmentation in this paper. In the proposed algorithm, AFE uses artificial bee colony (ABC) to select valuable features of input data, and then RFM provides the basic data analytics. In AFE, it first initializes the number of cluster k. Moreover, the clustering methods of k-means, Wald method, and fuzzy c-means (FCM) are processed to cluster the examples in variant groups. Finally, the classification method of an improved fuzzy decision tree classifies the target data and generates decision rules for explaining the detail situations. AFE also determines the value of the split number in the improved fuzzy decision tree to increase classification accuracy. The proposed clustering and classification based on automatic feature engineering is distributed, performed in Apache Spark platform. The topic of this paper is about solving the problem of clustering and classification for machine learning. From the results, the corresponding classification accuracy outperforms other approaches. Moreover, we also provide useful strategies and decision rules from data analytics for decision-makers.
Code2Que: a tool for improving question titles from mined code snippets in stack overflow

Stack Overflow is one of the most popular technical Q&A sites used by software developers. Seeking help from Stack Overflow has become an essential part of software developers’ daily work for solving programming-related questions. Although the Stack Overflow community has provided quality assurance guidelines to help users write better questions, we observed that a significant number of questions submitted to Stack Overflow are of low quality. In this paper, we introduce a new web-based tool, Code2Que, which can help developers in writing higher quality questions for a given code snippet. Code2Que consists of two main stages: offline learning and online recommendation. In the offline learning phase, we first collect a set of good quality ⟨code snippet, question⟩ pairs as training samples. We then train our model on these training samples via a deep sequence-to-sequence approach, enhanced with an attention mechanism, a copy mechanism and a coverage mechanism. In the online recommendation phase, for a given code snippet, we use the offline trained model to generate question titles to assist less experienced developers in writing questions more effectively. To evaluate Code2Que, we first sampled 50 low quality ⟨code snippet, question⟩ pairs from the Python and Java datasets on Stack Overflow. Then we conducted a user study to evaluate the question titles generated by our approach as compared to human-written ones using three metrics: Clearness, Fitness and Willingness to Respond. Our experimental results show that for a large number of low-quality questions in Stack Overflow, Code2Que can improve the question titles in terms of Clearness, Fitness and Willingness measures.
Deep Interpretable Models of Theory of Mind

When developing AI systems that interact with humans, it is essential to design both a system that can understand humans, and a system that humans can understand. Most deep network based agent-modeling approaches are 1) not interpretable and 2) only model external behavior, ignoring internal mental states, which potentially limits their capability for assistance, interventions, discovering false beliefs, etc. To this end, we develop an interpretable modular neural framework for modeling the intentions of other observed entities. We demonstrate the efficacy of our approach with experiments on data from human participants on a search and rescue task in Minecraft, and show that incorporating interpretability can significantly increase predictive performance under the right conditions.
Deep Auto Encoder Based Extreme Learning System for Automatic Segmentation of Cervical Cells

Nowadays, cervical cancer has emerged as one of the major causes of death and thus makes it incredibly difficult to identify it. In this research, three novel methods have been developed for the automatic detection and classification of cervical cancer in Pap images. There are five steps in this framework which includes data collection, preprocessing, segmentation, feature extraction, and classification of images. The proposed method is implemented using Herlev Pap smear data set. The input image from the data set is pre-processed by using an Anisotropic Diffusion Filter with Unsharp Masking technique that removes the noise in the Pap data. In the next step, an enhanced image sequence is segmented automatically by the proposed Advance Map-Based Superpixel Segmentation (AMBSS) algorithm. Finally, cervix cancer images are procured by utilizing an AMBSS and classified by Support Vector Machine classifier. The accuracy obtained is 85.4%. In order to improve the accuracy AMBSS with quasi newton-based Feed Forward Neural Network classification is used and the accuracy of 96.0% is obtained. Furthermore, AMBSS with Deep auto encoder-based Extreme Learning Machine classification is performed and achieved the accuracy of 99.1%. The findings show that the precision of classification typically exceeds other intelligent methods previously applied.
ATOM: Architectural Support and Optimization Mechanism for Smart Contract Fast Update and Execution in Blockchain-Based IoT

Blockchain-based Internet of Things (BC-IoT) brings the advantages of blockchain into traditional IoT systems. In BC-IoT, the smart contract has been widely used for automatic, trusted, and decentralized applications. Smart contracts require frequent adjust and fast update due to various reasons, such as inevitable code bugs, changes of applications, or security requirements. However, previous smart contract architecture and updating mechanism are low speed and cause high overhead, because they are based on recompilation and redeployment in BC-IoT. Meanwhile, smart contract execution is so time consuming due to contract instruction dispatching and operand loading in the stack-based Ethereum virtual machine (EVM). To address these issues, we propose a new smart contract architecture and optimization mechanism for BC-IoTs, ATOM, which provides architectural supports to update contract economically and fast executing in instructionwise for the first time, to the best of our knowledge. We design a compact Application-oriented Instruction (AoI) set to describe application operations. We can construct the bytecode of smart contract from application by directly assembling templates prebuilt upon the AoIs rather than by compilation. We also present an optimized mechanism for AoI execution to enable access addressable storage place rather than the indirect access through stack. We perform ATOM on a BC-IoT testbed based on private Ethereum and Hyperledger Burrow. The experimental results highlight that ATOM is more efficient than state-of-the-art approaches. ATOM can reduce update latency by 62.7%, ledger size by 70%, and gas usage by 90% on average, respectively. Compared with the traditional smart contract architecture, ATOM can improve EVM Memory access efficiency significantly by up to <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$10\times $ </tex-math></inline-formula> and achieve improvement of execution efficiency with up to <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$1.6\times $ </tex-math></inline-formula> .
A clustering approach to extract data from HTML tables

HTML tables have become pervasive on the Web. Extracting their data automatically is difficult because finding the relationships between their cells is not trivial due to the many different layouts, encodings, and formats available. In this article, we introduce Melva, which is an unsupervised domain-agnostic proposal to extract data from HTML tables without requiring any external knowledge bases. It relies on a clustering approach that helps make label cells apart from value cells and establish their relationships. We compared Melva to four competitors on more than 3000 HTML tables from the Wikipedia and the Dresden Web Table Corpus. The conclusion is that our proposal is 21.70% better than the best unsupervised competitor and equals the best supervised competitor regarding effectiveness, but it is 99.14% better regarding efficiency.