Age of Information-Aware Radio Resource Management in Vehicular Networks: A Proactive Deep Reinforcement Learning Perspective

In this paper, we investigate the problem of age of information (AoI)-aware radio resource management for expected long-term performance optimization in a Manhattan grid vehicle-to-vehicle network. With the observation of global network state at each scheduling slot, the roadside unit (RSU) allocates the frequency bands and schedules packet transmissions for all vehicle user equipment-pairs (VUE-pairs). We model the stochastic decision-making procedure as a discrete-time single-agent Markov decision process (MDP). The technical challenges in solving the optimal control policy originate from high spatial mobility and temporally varying traffic information arrivals of the VUE-pairs. To make the problem solving tractable, we first decompose the original MDP into a series of per-VUE-pair MDPs. Then we propose a proactive algorithm based on long short-term memory and deep reinforcement learning techniques to address the partial observability and the curse of high dimensionality in local network state space faced by each VUE-pair. With the proposed algorithm, the RSU makes the optimal frequency band allocation and packet scheduling decision at each scheduling slot in a decentralized way in accordance with the partial observations of the global network state at the VUE-pairs. Numerical experiments validate the theoretical analysis and demonstrate the significant performance improvements from the proposed algorithm.

Deep Saliency Models : The Quest For The Loss Function

Recent advances in deep learning have pushed the performances of visual saliency models way further than it has ever been. Numerous models in the literature present new ways to design neural networks, to arrange gaze pattern data, or to extract as much high and low-level image features as possible in order to create the best saliency representation. However, one key part of a typical deep learning model is often neglected: the choice of the loss function. In this work, we explore some of the most popular loss functions that are used in deep saliency models. We demonstrate that on a fixed network architecture, modifying the loss function can significantly improve (or depreciate) the results, hence emphasizing the importance of the choice of the loss function when designing a model. We also introduce new loss functions that have never been used for saliency prediction to our knowledge. And finally, we show that a linear combination of several well-chosen loss functions leads to significant improvements in performances on different datasets as well as on a different network architecture, hence demonstrating the robustness of a combined metric.

Compare Contact Model-based Control and Contact Model-free Learning: A Survey of Robotic Peg-in-hole Assembly Strategies

In this paper, we present an overview of robotic peg-in-hole assembly and analyze two main strategies: contact model-based and contact model-free strategies. More specifically, we first introduce the contact model control approaches, including contact state recognition and compliant control two steps. Additionally, we focus on a comprehensive analysis of the whole robotic assembly system. Second, without the contact state recognition process, we decompose the contact model-free learning algorithms into two main subfields: learning from demonstrations and learning from environments (mainly based on reinforcement learning). For each subfield, we survey the landmark studies and ongoing research to compare the different categories. We hope to strengthen the relation between these two research communities by revealing the underlying links. Ultimately, the remaining challenges and open questions in the field of robotic peg-in-hole assembly community is discussed. The promising directions and potential future work are also considered.

Cross-Modal Self-Attention Network for Referring Image Segmentation

We consider the problem of referring image segmentation. Given an input image and a natural language expression, the goal is to segment the object referred by the language expression in the image. Existing works in this area treat the language expression and the input image separately in their representations. They do not sufficiently capture long-range correlations between these two modalities. In this paper, we propose a cross-modal self-attention (CMSA) module that effectively captures the long-range dependencies between linguistic and visual features. Our model can adaptively focus on informative words in the referring expression and important regions in the input image. In addition, we propose a gated multi-level fusion module to selectively integrate self-attentive cross-modal features corresponding to different levels in the image. This module controls the information flow of features at different levels. We validate the proposed approach on four evaluation datasets. Our proposed approach consistently outperforms existing state-of-the-art methods.

Learning Semantic Segmentation with Diverse Supervision

Models based on deep convolutional neural networks (CNN) have significantly improved the performance of semantic segmentation. However, learning these models requires a large amount of training images with pixel-level labels, which are very costly and time-consuming to collect. In this paper, we propose a method for learning CNN-based semantic segmentation models from images with several types of annotations that are available for various computer vision tasks, including image-level labels for classification, box-level labels for object detection and pixel-level labels for semantic segmentation. The proposed method is flexible and can be used together with any existing CNN-based semantic segmentation networks. Experimental evaluation on the challenging PASCAL VOC 2012 and SIFT-flow benchmarks demonstrate that the proposed method can effectively make use of diverse training data to improve the performance of the learned models.

Face Parsing via a Fully-Convolutional Continuous CRF Neural Network

In this work, we address the face parsing task with a Fully-Convolutional continuous CRF Neural Network (FC-CNN) architecture. In contrast to previous face parsing methods that apply region-based subnetwork hundreds of times, our FC-CNN is fully convolutional with high segmentation accuracy. To achieve this goal, FC-CNN integrates three subnetworks, a unary network, a pairwise network and a continuous Conditional Random Field (C-CRF) network into a unified framework. The high-level semantic information and low-level details across different convolutional layers are captured by the convolutional and deconvolutional structures in the unary network. The semantic edge context is learnt by the pairwise network branch to construct pixel-wise affinity. Based on a differentiable superpixel pooling layer and a differentiable C-CRF layer, the unary network and pairwise network are combined via a novel continuous CRF network to achieve spatial consistency in both training and test procedure of a deep neural network. Comprehensive evaluations on LFW-PL and HELEN datasets demonstrate that FC-CNN achieves better performance over the other state-of-arts for accurate face labeling on challenging images.

Computational Model for Predicting Visual Fixations from Childhood to Adulthood

How people look at visual information reveals fundamental information about themselves, their interests and their state of mind. While previous visual attention models output static 2-dimensional saliency maps, saccadic models aim to predict not only where observers look at but also how they move their eyes to explore the scene. Here we demonstrate that saccadic models are a flexible framework that can be tailored to emulate observer's viewing tendencies. More specifically, we use the eye data from 101 observers split in 5 age groups (adults, 8-10 y.o., 6-8 y.o., 4-6 y.o. and 2 y.o.) to train our saccadic model for different stages of the development of the human visual system. We show that the joint distribution of saccade amplitude and orientation is a visual signature specific to each age group, and can be used to generate age-dependent scanpaths. Our age-dependent saccadic model not only outputs human-like, age-specific visual scanpath, but also significantly outperforms other state-of-the-art saliency models. In this paper, we demonstrate that the computational modelling of visual attention, through the use of saccadic model, can be efficiently adapted to emulate the gaze behavior of a specific group of observers.

The SYSU System for the Interspeech 2015 Automatic Speaker Verification Spoofing and Countermeasures Challenge

Many existing speaker verification systems are reported to be vulnerable against different spoofing attacks, for example speaker-adapted speech synthesis, voice conversion, play back, etc. In order to detect these spoofed speech signals as a countermeasure, we propose a score level fusion approach with several different i-vector subsystems. We show that the acoustic level Mel-frequency cepstral coefficients (MFCC) features, the phase level modified group delay cepstral coefficients (MGDCC) and the phonetic level phoneme posterior probability (PPP) tandem features are effective for the countermeasure. Furthermore, feature level fusion of these features before i-vector modeling also enhance the performance. A polynomial kernel support vector machine is adopted as the supervised classifier. In order to enhance the generalizability of the countermeasure, we also adopted the cosine similarity and PLDA scoring as one-class classifications methods. By combining the proposed i-vector subsystems with the OpenSMILE baseline which covers the acoustic and prosodic information further improves the final performance. The proposed fusion system achieves 0.29% and 3.26% EER on the development and test set of the database provided by the INTERSPEECH 2015 automatic speaker verification spoofing and countermeasures challenge.