Artificial Intelligence and Robotics Commons^™

Metareasoning, Opportunistic Exploration, And Explanations For Autonomous Indoor Navigation, Raj Korpan

Dissertations, Theses, and Capstone Projects

Autonomous indoor navigation is an important task for mobile robots deployed without a map in real-world environments, such as museums or offices. While it travels, an autonomous robot navigator must contend with lack of prior knowledge, sensor noise, actuator error, and inquisitive people. This dissertation addresses these challenges with a cognitively-based hierarchical reasoning architecture that incorporates learning, exploration, reactivity, planning, heuristics, and explanations. Evaluation by simulation in large, complex, indoor environments shows that a robot controller can successfully navigate without a detailed map of every obstruction's location when it performs limited initial global exploration and plans in its learned spatial …

A Hybrid Stochastic-Deterministic Minibatch Proximal Gradient Method For Efficient Optimization And Generalization, Pan Zhou, Xiao-Tong Yuan, Lin Zhouchen, Steven C. H. Hoi

Research Collection School Of Computing and Information Systems

Despite the success of stochastic variance-reduced gradient (SVRG) algorithms in solving large-scale problems, their stochastic gradient complexity often scales linearly with data size and is expensive for huge data. Accordingly, we propose a hybrid stochastic-deterministic minibatch proximal gradient (HSDMPG) algorithm for strongly convex problems with linear prediction structure, e.g. least squares and logistic/softmax regression. HSDMPG enjoys improved computational complexity that is data-size-independent for large-scale problems. It iteratively samples an evolving minibatch of individual losses to estimate the original problem, and can efficiently minimize the sampled subproblems. For strongly convex loss of n components, HSDMPG attains an -optimization-error within O κ …

Learning Contextual Causality Between Daily Events From Time-Consecutive Images, Hongming Zhang, Yintong Huo, Xinran Zhao, Yangqiu Song, Dan Roth

Research Collection School Of Computing and Information Systems

Conventional textual-based causal knowledge acquisition methods typically require laborious and expensive human annotations. As a result, their scale is often limited. Moreover, as no context is provided during the annotation, the resulting causal knowledge records (e.g., ConceptNet) typically do not consider the context. In this paper, we move out of the textual domain to explore a more scalable way of acquiring causal knowledge and investigate the possibility of learning contextual causality from the visual signal. Specifically, we first propose a high-quality dataset Vis-Causal and then conduct experiments to demonstrate that with good language and visual representations, it is possible to …

Why Do Robots Have Smiley Faces?, Mark Findlay

Research Collection Yong Pung How School Of Law

The author discussed why engineers and designers provide machines with the semblance of friendliness, and why it takes more than that for humans to trust AI. The ground-breaking AI in community research and policy initiative by CAIDG, supported by the National Research Foundation Singapore under its Emerging Areas Research Projects Funding Initiative, seeks to understand how and why trust can be established when humans and machines come together.

Engaging Drivers Via Competition: A Case Study With Arena, Hao Cheng, Shuyu Wei, Lingyu Zhang, Zimu Zhou, Yongxin. Tong

Research Collection School Of Computing and Information Systems

Sustained work enthusiasms of drivers are crucial for the success of large-scale ride-hailing platforms. In this paper, we conduct the first-of-its-kind exploration to encourage active participation of drivers via competition. We design Arena, a competition where drivers compete for prizes via completing more trips. Through a pilot study covering over 2,600 participants, we uncover the easy-win problem, an overlooked and serious issue in competition design for real-world drivers. It refers to situations where one competitor does not show up during competition whereas the other easily wins. To solve the easy-win problem without impairing motivation of drivers, we devise a novel …

Grand-Vision: An Intelligent System For Optimized Deployment Scheduling Of Law Enforcement Agents, Jonathan Chase, Tran Phong, Kang Long, Tony Le, Hoong Chuin Lau

Research Collection School Of Computing and Information Systems

Law enforcement agencies in dense urban environments, faced with a wide range of incidents to handle and limited manpower, are turning to data-driven AI to inform their policing strategy. In this paper we present a patrol scheduling system called GRAND-VISION: Ground Response Allocation and Deployment - Visualization, Simulation, and Optimization. The system employs deep learning to generate incident sets that are used to train a patrol schedule that can accommodate varying manpower, break times, manual pre-allocations, and a variety of spatio-temporal demand features. The complexity of the scenario results in a system with real world applicability, which we demonstrate through …

Coordinating Multi-Party Vehicle Routing With Location Congestion Via Iterative Best Response, Waldy Joe, Hoong Chuin Lau

Research Collection School Of Computing and Information Systems

This work is motivated by a real-world problem of coordinating B2B pickup-delivery operations to shopping malls involving multiple non-collaborative Logistics Service Providers (LSPs) in a congested city where space is scarce. This problem can be categorized as a Vehicle Routing Problem with Pickup and Delivery, Time Windows and Location Congestion with multiple LSPs (or ML-VRPLC in short), and we propose a scalable, decentralized, coordinated planning approach via iterative best response. We formulate the problem as a strategic game where each LSP is a self-interested agent but is willing to participate in a coordinated planning as long as there are sufficient …

Set Team Orienteering Problem With Time Windows, Aldy Gunawan, Vincent F. Yu, Andros Nicas Sutanto, Panca Jodiawan

Research Collection School Of Computing and Information Systems

This research introduces an extension of the Orienteering Problem (OP), known as Set Team Orienteering Problem with Time Windows (STOPTW), in which customers are first grouped into clusters. Each cluster is associated with a profit that will be collected if at least one customer within the cluster is visited. The objective is to find the best route that maximizes the total collected profit without violating time windows and time budget constraints. We propose an adaptive large neighborhood search algorithm to solve newly introduced benchmark instances. The preliminary results show the capability of the proposed algorithm to obtain good solutions within …

Adaptive Aggregation Networks For Class-Incremental Learning, Yaoyao Liu, Bernt Schiele, Qianru Sun

Research Collection School Of Computing and Information Systems

Class-Incremental Learning (CIL) aims to learn a classification model with the number of classes increasing phase-by-phase. An inherent problem in CIL is the stability-plasticity dilemma between the learning of old and new classes, i.e., high-plasticity models easily forget old classes, but high-stability models are weak to learn new classes. We alleviate this issue by proposing a novel network architecture called Adaptive Aggregation Networks (AANets) in which we explicitly build two types of residual blocks at each residual level (taking ResNet as the baseline architecture): a stable block and a plastic block. We aggregate the output feature maps from these two …

Counterfactual Zero-Shot And Open-Set Visual Recognition, Zhongqi Yue, Tan Wang, Qianru Sun, Xian-Sheng Hua, Hanwang Zhang

Research Collection School Of Computing and Information Systems

We present a novel counterfactual framework for both Zero-Shot Learning (ZSL) and Open-Set Recognition (OSR), whose common challenge is generalizing to the unseen-classes by only training on the seen-classes. Our idea stems from the observation that the generated samples for unseen-classes are often out of the true distribution, which causes severe recognition rate imbalance between the seen-class (high) and unseen-class (low). We show that the key reason is that the generation is not Counterfactual Faithful, and thus we propose a faithful one, whose generation is from the sample-specific counterfactual question: What would the sample look like, if we set its …

Projecting Your View Attentively: Monocular Road Scene Layout Estimation Via Cross-View Transformation, Weixiang Yang, Qi Li, Wenxi Liu, Yuanlong Yu, Yuexin Ma, Shengfeng He, Jia Pan

Research Collection School Of Computing and Information Systems

HD map reconstruction is crucial for autonomous driving. LiDAR-based methods are limited due to the deployed expensive sensors and time-consuming computation. Camera-based methods usually need to separately perform road segmentation and view transformation, which often causes distortion and the absence of content. To push the limits of the technology, we present a novel framework that enables reconstructing a local map formed by road layout and vehicle occupancy in the bird's-eye view given a front-view monocular image only. In particular, we propose a cross-view transformation module, which takes the constraint of cycle consistency between views into account and makes full use …

Sequence-To-Sequence Learning For Automated Software Artifact Generation, Zhongxin Liu, Xin Xia, David Lo

Research Collection School Of Computing and Information Systems

During the development and maintenance of a software system, developers produce many digital artifacts besides source code, e.g., requirement documents, code comments, change history, bug reports, etc. Such artifacts are valuable for developers to understand and maintain the software system. However, creating software artifacts can be burdensome and developers sometimes neglect to write and maintain important artifacts. This problem can be alleviated by software artifact generation tools, which can assist developers in creating software artifacts and automatically generate artifacts to replace existing empty ones. The focus of this chapter is automated software artifact generation (hereon, SAG) using seq2seq learning. This …

When Program Analysis Meets Bytecode Search: Targeted And Efficient Inter-Procedural Analysis Of Modern Android Apps In Backdroid, Daoyuan Wu, Debin Gao, Robert H. Deng, Rocky Chang

Research Collection School Of Computing and Information Systems

Widely-used Android static program analysis tools,e.g., Amandroid and FlowDroid, perform the whole-app interprocedural analysis that is comprehensive but fundamentallydifficult to handle modern (large) apps. The average app size hasincreased three to four times over five years. In this paper, weexplore a new paradigm of targeted inter-procedural analysis thatcan skip irrelevant code and focus only on the flows of securitysensitive sink APIs. To this end, we propose a technique calledon-the-fly bytecode search, which searches the disassembled appbytecode text just in time when a caller needs to be located. In thisway, it guides targeted (and backward) inter-procedural analysisstep by step until reaching …

Soarnet, Deep Learning Thermal Detection For Free Flight, Jake T. Tallman

Master's Theses

Thermals are regions of rising hot air formed on the ground through the warming of the surface by the sun. Thermals are commonly used by birds and glider pilots to extend flight duration, increase cross-country distance, and conserve energy. This kind of powerless flight using natural sources of lift is called soaring. Once a thermal is encountered, the pilot flies in circles to keep within the thermal, so gaining altitude before flying off to the next thermal and towards the destination. A single thermal can net a pilot thousands of feet of elevation gain, however estimating thermal locations is not …

Deep Learning On Image Forensics And Anti-Forensics, Zhangyi Shen

Dissertations

Image forensics protect the authenticity and integrity of digital images. On the contrary, as the countermeasures of digital forensics, anti-forensics is applied to expose the vulnerability of forensics tools. Consequently, forensics researchers could develop forensics tools against possible new attacks. This dissertation investigation demonstrates two image forensics methods based on convolutional neural network (CNN) and two image anti-forensics methods based on generative adversarial network (GAN).

Detecting unsharp masking (USM) sharpened image is the first study in this dissertation. A CNN architecture comprises four convolutional layers and a classification module is proposed to discriminate sharpened images and unsharpened images. The results …

Convolutional Neural Networks For Deflate Data Encoding Classification Of High Entropy File Fragments, Nehal Ameen

LSU New Orleans Theses and Dissertations

Data reconstruction is significantly improved in terms of speed and accuracy by reliable data encoding fragment classification. To date, work on this problem has been successful with file structures of low entropy that contain sparse data, such as large tables or logs. Classifying compressed, encrypted, and random data that exhibit high entropy is an inherently difficult problem that requires more advanced classification approaches. We explore the ability of convolutional neural networks and word embeddings to classify deflate data encoding of high entropy file fragments after establishing ground truth using controlled datasets. Our model is designed to either successfully classify file …

Land Cover Image Segmentation Based On Individual Class Binary Segmentation, Sathyanarayanan Somasunder

Theses

Remote sensing techniques have been developed over the past decades to acquire data without being in contact of the target object or data source. Their application on land-cover image segmentation has attracted significant attention in recent years. With the help of satellites, scientists and researchers can collect and store high resolution image data that can be further processed, segmented, and classified. However, these research results have not yet been synthesized to provide coherent guidance on the effect of variant land-cover segmentation processes. In this paper, we present a novel model that augments segmentation using smaller networks to segment individual classes. …

Rm-Net: Rasterizing Markov Signals To Images For Deep Learning, Kajal Gupta

Theses

Statistical machine learning approaches are quite famous for processing Markov signal data. They can model unobserved states and learn certain characteristics particular to a signal with good accuracy. However, with the advent of Deep learning the novice ways of solving a problem has shifted towards this more sophisticated algorithm, which is much better, powerful and more accurate. Specifically, Convolutional Neural Nets (CNN) have shown many promising results on images and videos. Here we illustrate how CNN can be applied to a 1D numeric signal using signal rasterization technique. We start by rasterizing a 1D numeric Markov signal into an image …

Stock Markets Performance During A Pandemic: How Contagious Is Covid-19?, Yara Abushahba

Theses and Dissertations

Background and Motivation: The coronavirus (“COVID-19”) pandemic, the subsequent policies and lockdowns have unarguably led to an unprecedented fluid circumstance worldwide. The panic and fluctuations in the stock markets were unparalleled. It is inarguable that real-time availability of news and social media platforms like Twitter played a vital role in driving the investors’ sentiment during such global shock.

Purpose:The purpose of this thesis is to study how the investor sentiment in relation to COVID-19 pandemic influenced stock markets globally and how stock markets globally are integrated and contagious. We analyze COVID-19 sentiment through the Twitter posts and investigate its …

Clickbait Detection In Youtube Videos, Ruchira Gothankar

Master's Projects

YouTube videos often include captivating descriptions and intriguing thumbnails designed to increase the number of views, and thereby increase the revenue for the person who posted the video. This creates an incentive for people to post clickbait videos, in which the content might deviate significantly from the title, description, or thumbnail. In effect, users are tricked into clicking on clickbait videos. In this research, we consider the challenging problem of detecting clickbait YouTube videos. We experiment with logistic regression, random forests, and multilayer perceptrons, based on a variety of textual features. We obtain a maximum accuracy in excess of 94%.