Miracle-dz/UniFAR-FTUs huggingface dataset:
Alleviating Mode Collapse in GAN via Diversity Penalty Module

The vanilla GAN (Goodfellow et al. 2014) suffers from mode collapse deeply, which usually manifests as that the images generated by generators tend to have a high similarity amongst them, even though their corresponding latent vectors have been very different. In this paper, we introduce a pluggable diversity penalty module (DPM) to alleviate mode collapse of GANs. It reduces the similarity of image pairs in feature space, i.e., if two latent vectors are different, then we enforce the generator to generate two images with different features. The normalized Gram matrix is used to measure the similarity. We compare the proposed method with Unrolled GAN (Metz et al. 2016), BourGAN (Xiao, Zhong, and Zheng 2018), PacGAN (Lin et al. 2018), VEEGAN (Sri-vastava et al. 2017) and ALI (Dumoulin et al. 2016) on 2D synthetic dataset, and results show that the diversity penalty module can help GAN capture much more modes of the data distribution. Further, in classiﬁcation tasks, we apply this method as image data augmentation on MNIST, Fashion-MNIST and CIFAR-10, and the classiﬁcation testing accuracy is improved by 0.24%, 1.34% and 0.52% compared with WGAN GP (Gulrajani et al. 2017), respectively. In domain translation, diversity penalty module can help StarGAN (Choi et al. 2018) generate more accurate attention masks and ac-celarate the convergence process. Finally, we quantitatively evaluate the proposed method with IS and FID on CelebA, CIFAR-10, MNIST and Fashion-MNIST, and the results suggest GAN with diversity penalty module gets much higher IS and lower FID compared with some SOTA GAN architectures
Performer Identification From Symbolic Representation of Music Using Statistical Models

Music Performers have their own idiosyncratic way of interpreting a musical piece. A group of skilled performers playing the same piece of music would likely to inject their unique artistic styles in their performances. The variations of the tempo, timing, dynamics, articulation etc. from the actual notated music are what make the performers unique in their performances. This study presents a dataset consisting of four movements of Schubert's ``Sonata in B-flat major, D.960"performed by nine virtuoso pianists individually. We proposed and extracted a set of expressive features that are able to capture the characteristics of an individual performer's style. We then present a performer identification method based on the similarity of feature distribution, given a set of piano performances. The identification is done considering each feature individually as well as a fusion of the features. Results show that the proposed method achieved a precision of 0.903 using fusion features. Moreover, the onset time deviation feature shows promising result when considered individually.
Fairer Chess: A Reversal of Two Opening Moves in Chess Creates Balance Between White and Black

U nlike tic-tac-toe or checkers, in which optimal play leads to a draw, it is not known whether optimal play in chess ends in a win for White, a win for Black, or a draw. But after White moves first in chess, if Black has a double move followed by a double move of White and then alternating play, play is more balanced because White does not always tie or lead in moves. Symbolically, Balanced Alternation gives the following move sequence: After White's (W) initial move, first Black (B) and then White each have two moves in a row (BBWW), followed by the alternating sequence, beginning with W, which altogether can be written as WB/BW/WB/WB/WB… (the slashes separate alternating pairs of moves). Except for reversal of the 3rd and 4th moves from WB to BW (underscored), this is the standard chess sequence. Because Balanced Alternation lies between the standard sequence, which favors White, and a comparable sequence that favors Black, it is highly likely to produce a draw with optimal play, rendering chess fairer. This conclusion is supported by a computer analysis of chess openings and how they would play out under Balanced Alternation.
UPDesc: Unsupervised Point Descriptor Learning for Robust Registration

In this work, we propose UPDesc, an unsupervised method to learn point descriptors for robust point cloud registration. Our work builds upon a recent supervised 3D CNN-based descriptor extraction framework, namely, 3DSmoothNet, which leverages a voxel-based representation to parameterize the surrounding geometry of interest points. Instead of using a predefined fixed-size local support in voxelization, which potentially limits the access of richer local geometry information, we propose to learn the support size in a data-driven manner. To this end, we design a differentiable voxelization module that can back-propagate gradients to the support size optimization. To optimize descriptor similarity, the prior 3D CNN work and other supervised methods require abundant correspondence labels or pose annotations of point clouds for crafting metric learning losses. Differently, we show that unsupervised learning of descriptor similarity can be achieved by performing geometric registration in networks. Our learning objectives consider descriptor similarity both across and within point clouds without supervision. Through extensive experiments on point cloud registration benchmarks, we show that our learned descriptors yield superior performance over existing unsupervised methods.
Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. Amongst those, cable-driven rehabilitation robots (CDRRs) are relatively newer and their control strategies have been evolving in recent years. CDRRs offer several promising features, such as low inertia, lightweight, high payload-to-weight ratio, large work-space and configurability. In this paper, we categorize and review the cable-driven rehabilitation robots in three main groups concerning their applications for upper limb, lower limb, and waist rehabilitation. For each group, target movements are identified, and promising designs of CDRRs are analyzed in terms of types of actuators, controllers and their interactions with humans. Particular attention has been given to robots with verified clinical performance in actual rehabilitation settings. A large part of this paper is dedicated to comparing the control strategies and techniques of CDRRs under five main categories of: Impedance-based, PID-based, Admittance-based, Assist-as-needed (AAN) and Adaptive controllers. We have carefully contrasted the advantages and disadvantages of those methods with the aim of assisting the design of future CDRRs.
Planning with Learned Dynamic Model for Unsupervised Point Cloud Registration

Point cloud registration is a fundamental problem in 3D computer vision. In this paper, we cast point cloud registration into a planning problem in reinforcement learning, which can seek the transformation between the source and target point clouds through trial and error. By modeling the point cloud registration process as a Markov decision process (MDP), we develop a latent dynamic model of point clouds, consisting of a transformation network and evaluation network. The transformation network aims to predict the new transformed feature of the point cloud after performing a rigid transformation (i.e., action) on it while the evaluation network aims to predict the alignment precision between the transformed source point cloud and target point cloud as the reward signal. Once the dynamic model of the point cloud is trained, we employ the cross-entropy method (CEM) to iteratively update the planning policy by maximizing the rewards in the point cloud registration process. Thus, the optimal policy, i.e., the transformation between the source and target point clouds, can be obtained via gradually narrowing the search space of the transformation. Experimental results on ModelNet40 and 7Scene benchmark datasets demonstrate that our method can yield good registration performance in an unsupervised manner.
UniCon: Unified Context Network for Robust Active Speaker Detection

We propose a new efficient framework, the Unified Context Network (UniCon), for robust active speaker detection (ASD). Traditional methods for ASD usually operate on each candidate's pre-cropped face track separately and do not sufficiently consider the relationships among the candidates. This potentially limits performance, especially in challenging scenarios with low-resolution faces, multiple candidates, etc. Our solution is a novel, unified framework that focuses on jointly modeling multiple types of contextual information: spatial context to indicate the position and scale of each candidate's face, relational context to capture the visual relationships among the candidates and contrast audio-visual affinities with each other, and temporal context to aggregate long-term information and smooth out local uncertainties. Based on such information, our model optimizes all candidates in a unified process for robust and reliable ASD. A thorough ablation study is performed on several challenging ASD benchmarks under different settings. In particular, our method outperforms the state-of-the-art by a large margin of about 15% mean Average Precision (mAP) absolute on two challenging subsets: one with three candidate speakers, and the other with faces smaller than 64 pixels. Together, our UniCon achieves 92.0% mAP on the AVA-ActiveSpeaker validation set, surpassing 90% for the first time on this challenging dataset at the time of submission. Project website: https://unicon-asd.github. io/.
EENLP: Cross-lingual Eastern European NLP Index

Motivated by the sparsity of NLP resources for Eastern European languages, we present a broad index of existing Eastern European language resources (90+ datasets and 45+ models) published as a github repository open for updates from the community. Furthermore, to support the evaluation of commonsense reasoning tasks, we provide hand-crafted cross-lingual datasets for five different semantic tasks (namely news categorization, paraphrase detection, Natural Language Inference (NLI) task, tweet sentiment detection, and news sentiment detection) for some of the Eastern European languages. We perform several experiments with the existing multilingual models on these datasets to define the performance baselines and compare them to the existing results for other languages.
Hierarchical Aggregation for 3D Instance Segmentation

Instance segmentation on point clouds is a fundamental task in 3D scene perception. In this work, we propose a concise clustering-based framework named HAIS, which makes full use of spatial relation of points and point sets. Considering clustering-based methods may result in over-segmentation or under-segmentation, we introduce the hierarchical aggregation to progressively generate instance proposals, i.e., point aggregation for preliminarily clustering points to sets and set aggregation for generating complete instances from sets. Once the complete 3D instances are obtained, a sub-network of intra-instance prediction is adopted for noisy points filtering and mask quality scoring. HAIS is fast (only 410ms per frame on Titan X)) and does not require non-maximum suppression. It ranks 1st on the ScanNet v2 benchmark 1, achieving the highest 69.9% AP50 and surpassing previous state-of-the-art (SOTA) methods by a large margin. Besides, the SOTA results on the S3DIS dataset validate the good generalization ability. Code is available at https://github.com/hustvl/HAIS.
Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimation

Grasping in cluttered scenes has always been a great challenge for robots, due to the requirement of the ability to well understand the scene and object information. Previous works usually assume that the geometry information of the objects is available, or utilize a step-wise, multi-stage strategy to predict the feasible 6-DoF grasp poses. In this work, we propose to formalize the 6-DoF grasp pose estimation as a simultaneous multi-task learning problem. In a unified framework, we jointly predict the feasible 6-DoF grasp poses, instance semantic segmentation, and collision information. The whole framework is jointly optimized and end-to-end differentiable. Our model is evaluated on large-scale benchmarks as well as the real robot system. On the public dataset, our method outperforms prior state-of-the-art methods by a large margin (+4.08 AP). We also demonstrate the implementation of our model on a real robotic platform and show that the robot can accurately grasp target objects in cluttered scenarios with a high success rate. Project link: https://openbyterobotics.github. io/sscl.
Tolerance-Guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion

Policy learning for delicate industrial insertion tasks (e.g., PC board assembly) is challenging. This paper considers two major problems: how to learn a diversified policy (instead of just one average policy) that can efficiently handle different workpieces with minimum amount of training data, and how to handle defects of workpieces during insertion. To address the problems, we propose tolerance-guided policy learning. To encourage transferability of the learned policy to different workpieces, we add a task embedding to the policy's input space using the insertion tolerance. Then we train the policy using generative adversarial imitation learning with reward shaping (RS-GAIL) on a variety of representative situations. To encourage adaptability of the learned policy to handle defects, we build a probabilistic inference model that can output the best inserting pose based on failed insertions using the tolerance model. The best inserting pose is then used as a reference to the learned policy. This proposed method is validated on a sequence of IC socket insertion tasks in simulation. The results show that 1) RS-GAIL can efficiently learn optimal policies under sparse rewards; 2) the tolerance embedding can enhance the transferability of the learned policy; 3) the probabilistic inference makes the policy robust to defects on the workpieces.
Object-Augmented RGB-D SLAM for Wide-Disparity Relocalisation

We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of appearance-based relocalisation methods using point features or images. During the map construction, we use a pre-trained neural network to detect objects and estimate 6D poses from RGB-D data. An incremental probabilistic model is used to aggregate estimates over time to create the object map. Then in relocalisation, we use the same network to extract objects-of-interest in the ‘lost’ frames. Pairwise geometric matching finds correspondences between map and frame objects, and probabilistic absolute orientation followed by application of iterative closest point to dense depth maps and object centroids gives relocalisation. Results of experiments in desktop environments demonstrate very high success rates even for frames with widely different viewpoints from those used to construct the map, significantly outperforming two appearance- based methods.
Redatuming physical systems using symmetric autoencoders

This paper considers physical systems described by hidden states and indirectly observed through repeated measurements corrupted by unmodeled nuisance parameters. A network-based representation learns to disentangle the coherent information (relative to the state) from the incoherent nuisance information (relative to the sensing). Instead of physical models, the representation uses symmetry and stochastic regularization to inform an autoencoder architecture called SymAE. It enables redatuming, i.e., creating virtual data instances where the nuisances are uniformized across measurements.
Object Wake-up: 3-D Object Reconstruction, Animation, and in-situ Rendering from a Single Image

Given a picture of a chair, could we extract the 3-D shape of the chair, animate its plausible articulations and motions, and render in-situ in its original image space? The above question prompts us to devise an automated approach to extract and manipulate articulated objects in single images. Comparing with previous efforts on object manipulation, our work goes beyond 2-D manipulation and focuses on articulable objects, thus introduces greater ﬂexi-bility for possible object deformations. The pipeline of our approach starts by reconstructing and reﬁning a 3-D mesh representation of the object of interest from an input image; its control joints are predicted by exploiting the semantic part segmentation information; the obtained object 3-D mesh is then rigged & animated by non-rigid deformation, and rendered to perform in-situ motions in its original image space. Quantitative evaluations are carried out on 3-D reconstruction from single images, an established task that is related to our pipeline, where our results surpass those of the SOTAs by a noticeable margin. Extensive visual results also demonstrate the applicability of our approach.
A tight local algorithm for the minimum dominating set problem in outerplanar graphs

We show that there is a deterministic local algorithm (constant-time distributed graph algorithm) that finds a 5-approximation of a minimum dominating set on outerplanar graphs. We show there is no such algorithm that finds a $(5-\varepsilon)$-approximation, for any $\varepsilon>0$. Our algorithm only requires knowledge of the degree of a vertex and of its neighbors, so that large messages and unique identifiers are not needed.
Resource-Aware Generalization of Heterogeneous Strategies for Coalition Formation

—Existing approaches to coalition formation often assume that requirements associated with tasks are precisely speciﬁed by the human operator. However, prior work has demonstrated that humans, while extremely adept at solving complex problems, struggle to explicitly state their solution strategy. In this work, we propose a framework to learn implicit task requirements directly from expert demonstrations of coalition formation. We also account for the fact that demonstrators may utilize different, equally-valid solutions to the same task. Essentially, we contribute a framework to model and infer such heterogeneous strategies to coalition formation. Next, we develop a resource-aware approach to generalize the inferred strategies to new teams without requiring additional training. To this end, we formulate and solve a constrained optimization problem that simultaneously selects the most appropriate strategy for a given target team, and optimizes the constituents of its coalitions accordingly. We evaluate our approach against several baselines, including some that resemble existing approaches, using detailed numerical simulations, StarCraft II battles, and a multi-robot emergency-response scenario. Our results indicate that our framework consistently outperforms all baselines in terms of requirement satisfaction, resource utilization, and task success rates.
VoxelTrack: Multi-Person 3D Human Pose Estimation and Tracking in the Wild

We present VoxelTrack for multi-person 3D pose estimation and tracking from a few cameras which are separated by wide baselines. It employs a multi-branch network to jointly estimate 3D poses and re-identification (Re-ID) features for all people in the environment. In contrast to previous efforts which require to establish cross-view correspondence based on noisy 2D pose estimates, it directly estimates and tracks 3D poses from a 3D voxel-based representation constructed from multi-view images. We first discretize the 3D space by regular voxels and compute a feature vector for each voxel by averaging the body joint heatmaps that are inversely projected from all views. We estimate 3D poses from the voxel representation by predicting whether each voxel contains a particular body joint. Similarly, a Re-ID feature is computed for each voxel which is used to track the estimated 3D poses over time. The main advantage of the approach is that it avoids making any hard decisions based on individual images. The approach can robustly estimate and track 3D poses even when people are severely occluded in some cameras. It outperforms the state-of-the-art methods by a large margin on four public datasets including Shelf, Campus, Human3.6 M and CMU Panoptic.
The quantum theory of time: a calculus for q-numbers

In quantum theory, physical systems are usually assumed to evolve relative to a c-number time. This c-number time is unphysical and has turned out to be unnecessary for explaining dynamics: in the timeless approach to quantum theory developed by Page & Wootters 1983 Phys. Rev. D 27, 2885. (doi:10.1103/PhysRevD.27.2885), subsystems of a stationary universe can instead evolve relative to a ‘clock', which is a quantum system with a q-number time observable. Page & Wootters formulated their construction in the Schrödinger picture, which left open the possibility that the c-number time still plays an explanatory role in the Heisenberg picture. I formulate their construction in the Heisenberg picture and demonstrate how to eliminate c-number time from that picture, too. When the Page–Wootters construction is formulated in the Heisenberg picture, the descriptors of physical systems are functions of the clock's q-number time, and derivatives with respect to this q-number time can be defined in terms of the clock's algebra of observables, which results in a calculus for q-numbers.
Interpretable Goal Recognition in the Presence of Occluded Factors for Autonomous Vehicles

Recognising the goals or intentions of observed vehicles is a key step towards predicting the long-term future behaviour of other agents in an autonomous driving scenario. When there are unseen obstacles or occluded vehicles in a scenario, goal recognition may be confounded by the effects of these unseen entities on the behaviour of observed vehicles. Existing prediction algorithms that assume rational behaviour with respect to inferred goals may fail to make accurate long-horizon predictions because they ignore the possibility that the behaviour is influenced by such unseen entities. We introduce the Goal and Occluded Factor Inference (GOFI) algorithm which bases inference on inverse-planning to jointly infer a probabilistic belief over goals and potential occluded factors. We then show how these beliefs can be integrated into Monte Carlo Tree Search (MCTS). We demonstrate that jointly inferring goals and occluded factors leads to more accurate beliefs with respect to the true world state and allows an agent to safely navigate several scenarios where other baselines take unsafe actions leading to collisions.