OpenRaiser/Intern-Atlas huggingface dataset:
Time-Optimal Trajectory Planning with Interaction with the Environment
Venue: arXiv cs.RO 2023
Year: 2023

Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by the end-effector when in contact with the environment. When a dynamic model of the environment is not available, no consolidated methodology exists to consider the effect of the interaction. Regardless of the specific performance index to optimize, this article proposes a strategy to include external wrenches in the optimal planning algorithm, considering the task specifications. This procedure is instantiated for minimum-time trajectories and validated on a real robot performing an interaction task under admittance control. The results prove that the inclusion of end-effector wrenches affect the planned trajectory, in fact modifying the manipulator's dynamic capability.
Long-Horizon Planning and Execution with Functional Object-Oriented Networks
Venue: arXiv cs.RO 2023
Year: 2023

Following work on joint object-action representations, functional object-oriented networks (FOON) were introduced as a knowledge graph representation for robots. A FOON contains symbolic concepts useful to a robot's understanding of tasks and its environment for object-level planning. Prior to this work, little has been done to show how plans acquired from FOON can be executed by a robot, as the concepts in a FOON are too abstract for execution. We thereby introduce the idea of exploiting object-level knowledge as a FOON for task planning and execution. Our approach automatically transforms FOON into PDDL and leverages off-the-shelf planners, action contexts, and robot skills in a hierarchical planning pipeline to generate executable task plans. We demonstrate our entire approach on long-horizon tasks in CoppeliaSim and show how learned action contexts can be extended to never-before-seen scenarios.
Deciding FO-rewritability of regular languages and ontology-mediated queries in Linear Temporal Logic
Venue: arXiv cs.CC 2023
Year: 2023

Our concern is the problem of determining the data complexity of answering an ontology-mediated query (OMQ) formulated in linear temporal logic LTL over (Z,<) and deciding whether it is rewritable to an FO(<)-query, possibly with some extra predicates. First, we observe that, in line with the circuit complexity and FO-definability of regular languages, OMQ answering in AC^0, ACC^0 and NC^1 coincides with FO(<,\equiv)-rewritability using unary predicates x \equiv 0 (mod n), FO(<,MOD)-rewritability, and FO(RPR)-rewritability using relational primitive recursion, respectively. We prove that, similarly to known PSPACE-completeness of recognising FO(<)-definability of regular languages, deciding FO(<,\equiv)- and FO(<,MOD)-definability is also \PSPACE-complete (unless ACC^0 = NC^1). We then use this result to show that deciding FO(<)-, FO(<,\equiv)- and FO(<,MOD)-rewritability of LTL OMQs is EXPSPACE-complete, and that these problems become PSPACE-complete for OMQs with a linear Horn ontology and an atomic query, and also a positive query in the cases of FO(<)- and FO(<,\equiv)-rewritability. Further, we consider FO(<)-rewritability of OMQs with a binary-clause ontology and identify OMQ classes, for which deciding it is PSPACE-, Pi_2^p- and coNP-complete.
Octuplet Loss: Make Face Recognition Robust to Image Resolution
Venue: arXiv cs.CV 2023
Year: 2023

Image resolution, or in general, image quality, plays an essential role in the performance of today's face recognition systems. To address this problem, we propose a novel combination of the popular triplet loss to improve robustness against image resolution via fine-tuning of existing face recognition models. With octuplet loss, we leverage the relationship between high-resolution images and their synthetically down-sampled variants jointly with their identity labels. Fine-tuning several state-of-the-art approaches with our method proves that we can significantly boost performance for cross-resolution (high-to-low resolution) face verification on various datasets without meaningfully exacerbating the performance on high-to-high resolution images. Our method applied on the FaceTransformer network achieves 95.12% face verification accuracy on the challenging XQLFW dataset while reaching 99.73% on the LFW database. Moreover, the low-to-low face verification accuracy benefits from our method. We release our code to allow seamless integration of the octuplet loss into existing frameworks.
Open Tracing Tools: Overview and Critical Comparison
Venue: arXiv cs.SE 2023
Year: 2023

Background. Coping with the rapid growing complexity in contemporary software architecture, tracing has become an increasingly critical practice and been adopted widely by software engineers. By adopting tracing tools, practitioners are able to monitor, debug, and optimize distributed software architectures easily. However, with excessive number of valid candidates, researchers and practitioners have a hard time finding and selecting the suitable tracing tools by systematically considering their features and advantages.Objective. To such a purpose, this paper aims to provide an overview of popular Open tracing tools via comparison. Method. Herein, we first identified \ra{30} tools in an objective, systematic, and reproducible manner adopting the Systematic Multivocal Literature Review protocol. Then, we characterized each tool looking at the 1) measured features, 2) popularity both in peer-reviewed literature and online media, and 3) benefits and issues. We used topic modeling and sentiment analysis to extract and summarize the benefits and issues. Specially, we adopted ChatGPT to support the topic interpretation. Results. As a result, this paper presents a systematic comparison amongst the selected tracing tools in terms of their features, popularity, benefits and issues. Conclusion. The result mainly shows that each tracing tool provides a unique combination of features with also different pros and cons. The contribution of this paper is to provide the practitioners better understanding of the tracing tools facilitating their adoption.
The Wheelbot: A Jumping Reaction Wheel Unicycle
Venue: arXiv cs.RO 2023
Year: 2023

Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research. This paper presents the Wheelbot's mechanical and electrical design, its estimation and control algorithms, as well as experiments demonstrating both self-erection and disturbance rejection while balancing.
Characterizing and Optimizing End-to-End Systems for Private Inference
Venue: arXiv cs.CR 2023
Year: 2023

In two-party machine learning prediction services, the client's goal is to query a remote server's trained machine learning model to perform neural network inference in some application domain. However, sensitive information can be obtained during this process by either the client or the server, leading to potential collection, unauthorized secondary use, and inappropriate access to personal information. These security concerns have given rise to Private Inference (PI), in which both the client's personal data and the server's trained model are kept confidential. State-of-the-art PI protocols consist of a pre-processing or offline phase and an online phase that combine several cryptographic primitives: Homomorphic Encryption (HE), Secret Sharing (SS), Garbled Circuits (GC), and Oblivious Transfer (OT). Despite the need and recent performance improvements, PI remains largely arcane today and is too slow for practical use. This paper addresses PI's shortcomings with a detailed characterization of a standard high-performance protocol to build foundational knowledge and intuition in the systems community. Our characterization pinpoints all sources of inefficiency -- compute, communication, and storage. In contrast to prior work, we consider inference request arrival rates rather than studying individual inferences in isolation and we find that the pre-processing phase cannot be ignored and is often incurred online as there is insufficient downtime to hide pre-compute latency. Finally, we leverage insights from our characterization and propose three optimizations to address the storage (Client-Garbler), computation (layer-parallel HE), and communication (wireless slot allocation) overheads. Compared to the state-of-the-art PI protocol, these optimizations provide a total PI speedup of 1.8$\times$ with the ability to sustain inference requests up to a 2.24$\times$ greater rate.
Single Shot Self-Reliant Scene Text Spotter by Decoupled yet Collaborative Detection and Recognition
Venue: arXiv cs.CV 2023
Year: 2023

Typical text spotters follow the two-stage spotting paradigm which detects the boundary for a text instance first and then performs text recognition within the detected regions. Despite the remarkable progress of such spotting paradigm, an important limitation is that the performance of text recognition depends heavily on the precision of text detection, resulting in the potential error propagation from detection to recognition. In this work, we propose the single shot Self-Reliant Scene Text Spotter v2 (SRSTS v2), which circumvents this limitation by decoupling recognition from detection while optimizing two tasks collaboratively. Specifically, our SRSTS v2 samples representative feature points around each potential text instance, and conducts both text detection and recognition in parallel guided by these sampled points. Thus, the text recognition is no longer dependent on detection, thereby alleviating the error propagation from detection to recognition. Moreover, the sampling module is learned under the supervision from both detection and recognition, which allows for the collaborative optimization and mutual enhancement between two tasks. Benefiting from such sampling-driven concurrent spotting framework, our approach is able to recognize the text instances correctly even if the precise text boundaries are challenging to detect. Extensive experiments on four benchmarks demonstrate that our method compares favorably to state-of-the-art spotters.
Semantic Incompleteness of Hilbert System for a Combination of Classical and Intuitionistic Propositional Logic
Venue: arXiv cs.LO 2023
Year: 2023

The updated version of this paper has already been published in The Australasian Journal of Logic. You can access to the paper from the following link: https://ojs.victoria.ac.nz/ajl/article/view/7696. This paper shows Hilbert system $(\mathbf{C+J})^{-}$, given by del Cerro and Herzig (1996) is semantically incomplete. This system is proposed as a proof theory for Kripke semantics for a combination of intuitionistic and classical propositional logic, which is obtained by adding the natural semantic clause of classical implication into intuitionistic Kripke semantics. Although Hilbert system $(\mathbf{C+J})^{-}$ contains intuitionistic modus ponens as a rule, it does not contain classical modus ponens. This paper gives an argument ensuring that the system $(\mathbf{C+J})^{-}$ is semantically incomplete because of the absence of classical modus ponens. Our method is based on the logic of paradox, which is a paraconsistent logic proposed by Priest (1979).
The Computational Complexity of Multi-player Concave Games and Kakutani Fixed Points
Venue: arXiv cs.CC 2023
Year: 2023

Kakutani's Fixed Point theorem is a fundamental theorem in topology with numerous applications in game theory and economics. Computational formulations of Kakutani exist only in special cases and are too restrictive to be useful in reductions. In this paper, we provide a general computational formulation of Kakutani's Fixed Point Theorem and we prove that it is PPAD-complete. As an application of our theorem we are able to characterize the computational complexity of the following fundamental problems: (1) Concave Games. Introduced by the celebrated works of Debreu and Rosen in the 1950s and 60s, concave $n$-person games have found many important applications in Economics and Game Theory. We characterize the computational complexity of finding an equilibrium in such games. We show that a general formulation of this problem belongs to PPAD, and that finding an equilibrium is PPAD-hard even for a rather restricted games of this kind: strongly-concave utilities that can be expressed as multivariate polynomials of a constant degree with axis aligned box constraints. (2) Walrasian Equilibrium. Using Kakutani's fixed point Arrow and Debreu we resolve an open problem related to Walras's theorem on the existence of price equilibria in general economies. There are many results about the PPAD-hardness of Walrasian equilibria, but the inclusion in PPAD is only known for piecewise linear utilities. We show that the problem with general convex utilities is in PPAD. Along the way we provide a Lipschitz continuous version of Berge's maximum theorem that may be of independent interest.
Outlier detection of vital sign trajectories from COVID-19 patients
Venue: arXiv cs.LG 2023
Year: 2023

In this work, we present a novel trajectory comparison algorithm to identify abnormal vital sign trends, with the aim of improving recognition of deteriorating health. There is growing interest in continuous wearable vital sign sensors for monitoring patients remotely at home. These monitors are usually coupled to an alerting system, which is triggered when vital sign measurements fall outside a predefined normal range. Trends in vital signs, such as increasing heart rate, are often indicative of deteriorating health, but are rarely incorporated into alerting systems. We introduce a dynamic time warp distance-based measure to compare time series trajectories. We split each multi-variable sign time series into 180 minute, non-overlapping epochs. We then calculate the distance between all pairs of epochs. Each epoch is characterized by its mean pairwise distance (average link distance) to all other epochs, with clusters forming with nearby epochs. We demonstrate in synthetically generated data that this method can identify abnormal epochs and cluster epochs with similar trajectories. We then apply this method to a real-world data set of vital signs from 8 patients who had recently been discharged from hospital after contracting COVID-19. We show how outlier epochs correspond well with the abnormal vital signs and identify patients who were subsequently readmitted to hospital.
MARLAS: Multi Agent Reinforcement Learning for cooperated Adaptive Sampling
Venue: arXiv cs.RO 2023
Year: 2023

The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable approach using Multi-Agent Reinforcement Learning for cooperated Adaptive Sampling (MARLAS) of quasi-static environmental processes. Given a prior on the field being sampled, the proposed method learns decentralized policies for a team of robots to sample high-utility regions within a fixed budget. The multi-robot adaptive sampling problem requires the robots to coordinate with each other to avoid overlapping sampling trajectories. Therefore, we encode the estimates of neighbor positions and intermittent communication between robots into the learning process. We evaluated MARLAS over multiple performance metrics and found it to outperform other baseline multi-robot sampling techniques. Additionally, we demonstrate scalability with both the size of the robot team and the size of the region being sampled. We further demonstrate robustness to communication failures and robot failures. The experimental evaluations are conducted both in simulations on real data and in real robot experiments on demo environmental setup.
Scene Graph for Embodied Exploration in Cluttered Scenario
Venue: arXiv cs.RO 2023
Year: 2023

The ability to handle objects in cluttered environment has been long anticipated by robotic community. However, most of works merely focus on manipulation instead of rendering hidden semantic information in cluttered objects. In this work, we introduce the scene graph for embodied exploration in cluttered scenarios to solve this problem. To validate our method in cluttered scenario, we adopt the Manipulation Question Answering (MQA) tasks as our test benchmark, which requires an embodied robot to have the active exploration ability and semantic understanding ability of vision and language.As a general solution framework to the task, we propose an imitation learning method to generate manipulations for exploration. Meanwhile, a VQA model based on dynamic scene graph is adopted to comprehend a series of RGB frames from wrist camera of manipulator along with every step of manipulation is conducted to answer questions in our framework.The experiments on of MQA dataset with different interaction requirements demonstrate that our proposed framework is effective for MQA task a representative of tasks in cluttered scenario.
CNN-based Euler's Elastica Inpainting with Deep Energy and Deep Image Prior
Venue: arXiv cs.CV 2023
Year: 2023

Euler's elastica constitute an appealing variational image inpainting model. It minimises an energy that involves the total variation as well as the level line curvature. These components are transparent and make it attractive for shape completion tasks. However, its gradient flow is a singular, anisotropic, and nonlinear PDE of fourth order, which is numerically challenging: It is difficult to find efficient algorithms that offer sharp edges and good rotation invariance. As a remedy, we design the first neural algorithm that simulates inpainting with Euler's Elastica. We use the deep energy concept which employs the variational energy as neural network loss. Furthermore, we pair it with a deep image prior where the network architecture itself acts as a prior. This yields better inpaintings by steering the optimisation trajectory closer to the desired solution. Our results are qualitatively on par with state-of-the-art algorithms on elastica-based shape completion. They combine good rotation invariance with sharp edges. Moreover, we benefit from the high efficiency and effortless parallelisation within a neural framework. Our neural elastica approach only requires 3x3 central difference stencils. It is thus much simpler than other well-performing algorithms for elastica inpainting. Last but not least, it is unsupervised as it requires no ground truth training data.
Bidding combinatorial games
Venue: arXiv cs.GT 2023
Year: 2023

Combinatorial Game Theory is a branch of mathematics and theoretical computer science that studies sequential 2-player games with perfect information. Normal play is the convention where a player who cannot move loses. Here, we generalize the classical alternating normal play to infinitely many game families, by means of discrete Richman auctions (Develin et al. 2010, Larsson et al. 2021, Lazarus et al. 1996). We generalize the notion of a perfect play outcome, and find an exact characterization of outcome feasibility. As a main result, we prove existence of a game form for each such outcome class; then we describe their lattice structures. By imposing restrictions to the general families, such as impartial and {\em symmetric termination}, we find surprising analogies with alternating play.
A Context-Sensitive Word Embedding Approach for The Detection of Troll Tweets
Venue: arXiv cs.CL 2023
Year: 2023

In this study, we aimed to address the growing concern of trolling behavior on social media by developing and evaluating a set of model architectures for the automatic detection of troll tweets. Utilizing deep learning techniques and pre-trained word embedding methods such as BERT, ELMo, and GloVe, we evaluated the performance of each architecture using metrics such as classification accuracy, F1 score, AUC, and precision. Our results indicate that BERT and ELMo embedding methods performed better than the GloVe method, likely due to their ability to provide contextualized word embeddings that better capture the nuances and subtleties of language use in online social media. Additionally, we found that CNN and GRU encoders performed similarly in terms of F1 score and AUC, suggesting their effectiveness in extracting relevant information from input text. The best-performing method was found to be an ELMo-based architecture that employed a GRU classifier, with an AUC score of 0.929. This research highlights the importance of utilizing contextualized word embeddings and appropriate encoder methods in the task of troll tweet detection, which can assist social-based systems in improving their performance in identifying and addressing trolling behavior on their platforms.
Rationality-Robust Information Design: Bayesian Persuasion under Quantal Response
Venue: arXiv cs.GT 2023
Year: 2023

Classic mechanism/information design imposes the assumption that agents are fully rational, meaning each of them always selects the action that maximizes her expected utility. Yet many empirical evidence suggests that human decisions may deviate from this full rationality assumption. In this work, we attempt to relax the full rationality assumption with bounded rationality. Specifically, we formulate the bounded rationality of an agent by adopting the quantal response model (McKelvey and Palfrey, 1995). We develop a theory of rationality-robust information design in the canonical setting of Bayesian persuasion (Kamenica and Gentzkow, 2011) with binary receiver action. We first identify conditions under which the optimal signaling scheme structure for a fully rational receiver remains optimal or approximately optimal for a boundedly rational receiver. In practice, it might be costly for the designer to estimate the degree of the receiver's bounded rationality level. Motivated by this practical consideration, we then study the existence and construction of robust signaling schemes when there is uncertainty about the receiver's bounded rationality level.
A Meta-Reinforcement Learning Algorithm for Causal Discovery
Venue: arXiv cs.LG 2023
Year: 2023

Causal discovery is a major task with the utmost importance for machine learning since causal structures can enable models to go beyond pure correlation-based inference and significantly boost their performance. However, finding causal structures from data poses a significant challenge both in computational effort and accuracy, let alone its impossibility without interventions in general. In this paper, we develop a meta-reinforcement learning algorithm that performs causal discovery by learning to perform interventions such that it can construct an explicit causal graph. Apart from being useful for possible downstream applications, the estimated causal graph also provides an explanation for the data-generating process. In this article, we show that our algorithm estimates a good graph compared to the SOTA approaches, even in environments whose underlying causal structure is previously unseen. Further, we make an ablation study that shows how learning interventions contribute to the overall performance of our approach. We conclude that interventions indeed help boost the performance, efficiently yielding an accurate estimate of the causal structure of a possibly unseen environment.