Miracle-dz/UniFAR-FTUs huggingface dataset:
ROS2Learn: a reinforcement learning framework for ROS 2

We propose a novel framework for Deep Reinforcement Learning (DRL) in modular robotics to train a robot directly from joint states, using traditional robotic tools. We use an state-of-the-art implementation of the Proximal Policy Optimization, Trust Region Policy Optimization and Actor-Critic Kronecker-Factored Trust Region algorithms to learn policies in four different Modular Articulated Robotic Arm (MARA) environments. We support this process using a framework that communicates with typical tools used in robotics, such as Gazebo and Robot Operating System 2 (ROS 2). We evaluate several algorithms in modular robots with an empirical study in simulation.
DFineNet: Ego-Motion Estimation and Depth Refinement from Sparse, Noisy Depth Input with RGB Guidance

Depth estimation is an important capability for autonomous vehicles to understand and reconstruct 3D environments as well as avoid obstacles during the execution. Accurate depth sensors such as LiDARs are often heavy, expensive and can only provide sparse depth while lighter depth sensors such as stereo cameras are noiser in comparison. We propose an end-to-end learning algorithm that is capable of using sparse, noisy input depth for refinement and depth completion. Our model also produces the camera pose as a byproduct, making it a great solution for autonomous systems. We evaluate our approach on both indoor and outdoor datasets. Empirical results show that our method performs well on the KITTI~\cite{kitti_geiger2012we} dataset when compared to other competing methods, while having superior performance in dealing with sparse, noisy input depth on the TUM~\cite{sturm12iros} dataset.
Stripe: Tensor Compilation via the Nested Polyhedral Model

Hardware architectures and machine learning (ML) libraries evolve rapidly. Traditional compilers often fail to generate high-performance code across the spectrum of new hardware offerings. To mitigate, engineers develop hand-tuned kernels for each ML library update and hardware upgrade. Unfortunately, this approach requires excessive engineering effort to scale or maintain with any degree of state-of-the-art performance. Here we present a Nested Polyhedral Model for representing highly parallelizable computations with limited dependencies between iterations. This model provides an underlying framework for an intermediate representation (IR) called Stripe, amenable to standard compiler techniques while naturally modeling key aspects of modern ML computing. Stripe represents parallelism, efficient memory layout, and multiple compute units at a level of abstraction amenable to automatic optimization. We describe how Stripe enables a compiler for ML in the style of LLVM that allows independent development of algorithms, optimizations, and hardware accelerators. We also discuss the design exploration advantages of Stripe over kernel libraries and schedule-based or schedule-space-based code generation.
Unsupervised and interpretable scene discovery with Discrete-Attend-Infer-Repeat

In this work we present Discrete Attend Infer Repeat (Discrete-AIR), a Recurrent Auto-Encoder with structured latent distributions containing discrete categorical distributions, continuous attribute distributions, and factorised spatial attention. While inspired by the original AIR model andretaining AIR model's capability in identifying objects in an image, Discrete-AIR provides direct interpretability of the latent codes. We show that for Multi-MNIST and a multiple-objects version of dSprites dataset, the Discrete-AIR model needs just one categorical latent variable, one attribute variable (for Multi-MNIST only), together with spatial attention variables, for efficient inference. We perform analysis to show that the learnt categorical distributions effectively capture the categories of objects in the scene for Multi-MNIST and for Multi-Sprites.
Formality Style Transfer with Hybrid Textual Annotations

Formality style transformation is the task of modifying the formality of a given sentence without changing its content. Its challenge is the lack of large-scale sentence-aligned parallel data. In this paper, we propose an omnivorous model that takes parallel data and formality-classified data jointly to alleviate the data sparsity issue. We empirically demonstrate the effectiveness of our approach by achieving the state-of-art performance on a recently proposed benchmark dataset of formality transfer. Furthermore, our model can be readily adapted to other unsupervised text style transfer tasks like unsupervised sentiment transfer and achieve competitive results on three widely recognized benchmarks.
Efficient Memory Management for GPU-based Deep Learning Systems

GPU (graphics processing unit) has been used for many data-intensive applications. Among them, deep learning systems are one of the most important consumer systems for GPU nowadays. As deep learning applications impose deeper and larger models in order to achieve higher accuracy, memory management becomes an important research topic for deep learning systems, given that GPU has limited memory size. Many approaches have been proposed towards this issue, e.g., model compression and memory swapping. However, they either degrade the model accuracy or require a lot of manual intervention. In this paper, we propose two orthogonal approaches to reduce the memory cost from the system perspective. Our approaches are transparent to the models, and thus do not affect the model accuracy. They are achieved by exploiting the iterative nature of the training algorithm of deep learning to derive the lifetime and read/write order of all variables. With the lifetime semantics, we are able to implement a memory pool with minimal fragments. However, the optimization problem is NP-complete. We propose a heuristic algorithm that reduces up to 13.3% of memory compared with Nvidia's default memory pool with equal time complexity. With the read/write semantics, the variables that are not in use can be swapped out from GPU to CPU to reduce the memory footprint. We propose multiple swapping strategies to automatically decide which variable to swap and when to swap out (in), which reduces the memory cost by up to 34.2% without communication overhead.
Adaptive Probabilistic Tack Manoeuvre Decision for Sailing Vessels

To move upwind, sailing vessels have to cross the wind by tacking. During this manoeuvre distance made good may be lost and especially smaller vessels may struggle to complete a tack in averse wind and wave conditions. A decision for the best tack manoeuvre needs to be made based on weather and available tack implementations. This paper develops an adaptive probabilistic tack manoeuvre decision method. The order of attempting different tacking strategies is based on previous success within a timeout, combined with an exploration component. This method is successfully demonstrated on the 1m long sailing vessel Black Python. Four strategies for crossing the wind were evaluated through adaptive probabilistic choices, and the best was identified without detailed sensory knowledge of the actual weather conditions. Based on the positive results, further improvements for a better selection process are suggested and the potential of using the collected data to recognise the impact of weather conditions on tacking efforts is recognised.
Neuromorphic Hardware Learns to Learn

Hyperparameters and learning algorithms for neuromorphic hardware are usually chosen by hand to suit a particular task. In contrast, networks of neurons in the brain were optimized through extensive evolutionary and developmental processes to work well on a range of computing and learning tasks. Occasionally this process has been emulated through genetic algorithms, but these require themselves hand-design of their details and tend to provide a limited range of improvements. We employ instead other powerful gradient-free optimization tools, such as cross-entropy methods and evolutionary strategies, in order to port the function of biological optimization processes to neuromorphic hardware. As an example, we show these optimization algorithms enable neuromorphic agents to learn very efficiently from rewards. In particular, meta-plasticity, i.e., the optimization of the learning rule which they use, substantially enhances reward-based learning capability of the hardware. In addition, we demonstrate for the first time Learning-to-Learn benefits from such hardware, in particular, the capability to extract abstract knowledge from prior learning experiences that speeds up the learning of new but related tasks. Learning-to-Learn is especially suited for accelerated neuromorphic hardware, since it makes it feasible to carry out the required very large number of network computations.
Beyond task success: A closer look at jointly learning to see, ask, and GuessWhat

We propose a grounded dialogue state encoder which addresses a foundational issue on how to integrate visual grounding with dialogue system components. As a test-bed, we focus on the GuessWhat? game, a two-player game where the goal is to identify an object in a complex visual scene by asking a sequence of yes/no questions. Our visually-grounded encoder leverages synergies between guessing and asking questions, as it is trained jointly using multi-task learning. We further enrich our model via a cooperative learning regime. We show that the introduction of both the joint architecture and cooperative learning lead to accuracy improvements over the baseline system. We compare our approach to an alternative system which extends the baseline with reinforcement learning. Our in-depth analysis shows that the linguistic skills of the two models differ dramatically, despite approaching comparable performance levels. This points at the importance of analyzing the linguistic output of competing systems beyond numeric comparison solely based on task success.
New Bounds and Constructions for Constant Weighted X-Codes

As a crucial technique for integrated circuits (IC) test response compaction, <italic>X</italic>-compact employs a special kind of codes called <italic>X</italic>-codes for reliable compressions of the test response in the presence of unknown logic values (<italic>X</italic>s). From a combinatorial view point, Fujiwara and Colbourn introduced an equivalent definition of <italic>X</italic>-codes and studied <italic>X</italic>-codes of small weights that have good detectability and <italic>X</italic>-tolerance. An <inline-formula> <tex-math notation="LaTeX">$({\it\text { m, n, d, x}})~\text {X}$ </tex-math></inline-formula>-code is an <inline-formula> <tex-math notation="LaTeX">$\text {m}\times \text {n}$ </tex-math></inline-formula> binary matrix with column vectors as its codewords. The parameters <inline-formula> <tex-math notation="LaTeX">${\it\text { d, x}}$ </tex-math></inline-formula> correspond to the test quality of the code. In this paper, bounds and constructions for constant weighted <italic>X</italic>-codes are investigated. First, we obtain a general result on the maximum number of codewords n for an <inline-formula> <tex-math notation="LaTeX">$({\it\text { m, n, d, x}})~\text {X}$ </tex-math></inline-formula>-code of weight w, and we further improve this lower bound for the case with <inline-formula> <tex-math notation="LaTeX">$\text {x}=2$ </tex-math></inline-formula> and <inline-formula> <tex-math notation="LaTeX">$\text {w}=3$ </tex-math></inline-formula> through the probabilistic method. Then, using tools from additive combinatorics and finite fields, we present some explicit constructions for constant weighted <italic>X</italic>-codes with <inline-formula> <tex-math notation="LaTeX">$\text {d}=3,7$ </tex-math></inline-formula> and <inline-formula> <tex-math notation="LaTeX">$\text {x}=2$ </tex-math></inline-formula>, which are optimal for the case when <inline-formula> <tex-math notation="LaTeX">$\text {d}=3, \text {w}=4$ </tex-math></inline-formula> and nearly optimal for the case when <inline-formula> <tex-math notation="LaTeX">$\text {d}=3,\text {w}=3$ </tex-math></inline-formula>. We also consider a special class of <italic>X</italic>-codes introduced by Fujiwara and Colbourn and improve the best known lower bound on the maximum number of codewords for this kind of <italic>X</italic>-codes.
Distance Preserving Grid Layouts

Distance preserving visualization techniques have emerged as one of the fundamental tools for data analysis. One example are the techniques that arrange data instances into two-dimensional grids so that the pairwise distances among the instances are preserved into the produced layouts. Currently, the state-of-the-art approaches produce such grids by solving assignment problems or using permutations to optimize cost functions. Although precise, such strategies are computationally expensive, limited to small datasets or being dependent on specialized hardware to speed up the process. In this paper, we present a new technique, called Distance-preserving Grid (DGrid), that employs a binary space partitioning process in combination with multidimensional projections to create orthogonal regular grid layouts. Our results show that DGrid is as precise as the existing state-of-the-art techniques whereas requiring only a fraction of the running time and computational resources.
Spiking-YOLO: Spiking Neural Network for Real-time Object Detection

Over the past decade, deep neural networks (DNNs) have become a de-facto standard for solving machine learning problems. As we try to solve more advanced problems, growing demand for computing and power resources are inevitable, nearly impossible to employ DNNs on embedded systems, where available resources are limited. Given these circumstances, spiking neural networks (SNNs) are attracting widespread interest as the third generation of neural network, due to eventdriven and low-powered nature. However, SNNs come at the cost of significant performance degradation largely due to complex dynamics of SNN neurons and non-differential spike operation. Thus, its application has been limited to relatively simple tasks such as image classification. In this paper, we investigate the performance degradation of SNNs in the much more challenging task of object detection. From our in-depth analysis, we introduce two novel methods to overcome a significant performance gap: channel-wise normalization and signed neuron with imbalanced threshold. Consequently, we present a spiked-based real-time object detection model, called Spiking-YOLO that provides near-lossless information transmission in a shorter period of time for deep SNN. Our experiments show that the Spiking-YOLO is able to achieve comparable results up to 97% of the original YOLO on a non-trivial dataset, PASCAL VOC.
MFAS: Multimodal Fusion Architecture Search

We tackle the problem of finding good architectures for multimodal classification problems. We propose a novel and generic search space that spans a large number of possible fusion architectures. In order to find an optimal architecture for a given dataset in the proposed search space, we leverage an efficient sequential model-based exploration approach that is tailored for the problem. We demonstrate the value of posing multimodal fusion as a neural architecture search problem by extensive experimentation on a toy dataset and two other real multimodal datasets. We discover fusion architectures that exhibit state-of-the-art performance for problems with different domain and dataset size, including the \ntu~dataset, the largest multimodal action recognition dataset available.
AccFlow: Defending Against the Low-Rate TCP DoS Attack in Wireless Sensor Networks

Because of the open nature of the Wireless Sensor Networks (WSN), the Denial of the Service (DoS) becomes one of the most serious threats to the stability of the resourceconstrained sensor nodes. In this paper, we develop AccFlow which is an incrementally deployable Software-Defined Networking based protocol that is able to serve as a countermeasure against the low-rate TCP DoS attack. The main idea of AccFlow is to make the attacking flows accountable for the congestion by dropping their packets according to their loss rates. The larger their loss rates, the more aggressively AccFlow drops their packets. Through extensive simulations, we demonstrate that AccFlow can effectively defend against the low-rate TCP DoS attack even if attackers vary their strategies by attacking at different scales and data rates. Furthermore, while AccFlow is designed to solve the low-rate TCP DoS attack, we demonstrate that AccFlow can also effectively defend against general DoS attacks which do not rely on the TCP retransmission timeout mechanism but cause denial of service to legitimate users by consistently exhausting the network resources. Finally, we consider the scalability of AccFlow and its deployment in real networks.
Towards Principled Uncertainty Estimation for Deep Neural Networks

When the cost of misclassifying a sample is high, it is useful to have an accurate estimate of uncertainty in the prediction for that sample. There are also multiple types of uncertainty which are best estimated in different ways, for example, uncertainty that is intrinsic to the training set may be well-handled by a Bayesian approach, while uncertainty introduced by shifts between training and query distributions may be better-addressed by density/support estimation. In this paper, we examine three types of uncertainty: model capacity uncertainty, intrinsic data uncertainty, and open set uncertainty, and review techniques that have been derived to address each one. We then introduce a unified hierarchical model, which combines methods from Bayesian inference, invertible latent density inference, and discriminative classification in a single end-to-end deep neural network topology to yield efficient per-sample uncertainty estimation in a detection context. This approach addresses all three uncertainty types and can readily accommodate prior/base rates for binary detection. We then discuss how to extend this model to a more generic multiclass recognition context.
Deep Neural Network Ensembles for Time Series Classification

Deep neural networks have revolutionized many fields such as computer vision and natural language processing. Inspired by this recent success, deep learning started to show promising results for Time Series Classification (TSC). However, neural networks are still behind the state-of-the-art TSC algorithms, that are currently composed of ensembles of 37 non deep learning based classifiers. We attribute this gap in performance due to the lack of neural network ensembles for TSC. Therefore in this paper, we show how an ensemble of 60 deep learning models can significantly improve upon the current state-of-the-art performance of neural networks for TSC, when evaluated over the UCR/UEA archive: the largest publicly available benchmark for time series analysis. Finally, we show how our proposed Neural Network Ensemble (NNE) is the first time series classifier to outperform COTE while reaching similar performance to the current state-of-the-art ensemble HIVE-COTE.
New Opportunities for Integrated Formal Methods

Formal methods have provided approaches for investigating software engineering fundamentals and also have high potential to improve current practices in dependability assurance. In this article, we summarise known strengths and weaknesses of formal methods. From the perspective of the assurance of robots and autonomous systems (RAS), we highlight new opportunities for integrated formal methods and identify threats to the adoption of such methods. Based on these opportunities and threats, we develop an agenda for fundamental and empirical research on integrated formal methods and for successful transfer of validated research to RAS assurance. Furthermore, we outline our expectations on useful outcomes of such an agenda.
Automatic Assessment of Spoken Language Proficiency of Non-native Children

This paper describes technology developed to automatically grade Italian students (ages 9-16) on their English and German spoken language proficiency. The students’ spoken answers are first transcribed by an automatic speech recognition (ASR) system and then scored using a feedforward neural network (NN) that processes features extracted from the automatic transcriptions. In-domain acoustic models, employing deep neural networks (DNNs), are derived by adapting the parameters of an original out of domain DNN. Automatic scores are computed for low level proficiency indicators - such as: lexical richness, syntax correctness, quality of pronunciation, discourse fluency, semantic relevance to the prompt, etc - defined by human experts in language proficiency. A set of experiments was carried out on a large set of data collected during proficiency evaluation campaigns involving thousands of students, manually scored by human experts. Obtained results are presented and discussed.
Phenotypic Profiling of High Throughput Imaging Screens with Generic Deep Convolutional Features

While deep learning has seen many recent applications to drug discovery, most have focused on predicting activity or toxicity directly from chemical structure. Phenotypic changes exhibited in cellular images are also indications of the mechanism of action (MoA) of chemical compounds. In this paper, we show how pre-trained convolutional image features can be used to assist scientists in discovering interesting chemical clusters for further investigation. Our method reduces the dimensionality of raw fluorescent stained images from a high throughput imaging (HTI) screen, producing an embedding space that groups together images with similar cellular phenotypes. Running standard unsupervised clustering on this embedding space yields a set of distinct phenotypic clusters. This allows scientists to further select and focus on interesting clusters for downstream analyses. We validate the consistency of our embedding space qualitatively with t-sne visualizations, and quantitatively by measuring embedding variance among images that are known to be similar. Results suggested the usefulness of our proposed workflow using deep learning and clustering and it can lead to robust HTI screening and compound triage.
Adversarial Joint Image and Pose Distribution Learning for Camera Pose Regression and Refinement

Despite recent advances on the topic of direct camera pose regression using neural networks, accurately estimating the camera pose of a single RGB image still remains a challenging task. To address this problem, we introduce a novel framework based, in its core, on the idea of modeling the joint distribution of RGB images and their corresponding camera poses using adversarial learning. Our method allows not only to regress the camera pose from a single image, however, also offers a solely RGB-based solution for camera pose refinement using the discriminator network. Further, we show that our method can effectively be used to optimize the predicted camera poses and thus improve the localization accuracy. To this end, we validate our proposed method on the publicly available 7-Scenes dataset improving upon the results of current state-of-the-art direct camera pose regression methods.