OpenRaiser/Intern-Atlas huggingface dataset:
Benchmarks for Deep Off-Policy Evaluation
Venue: arXiv cs.LG 2021
Year: 2021

Off-policy evaluation (OPE) holds the promise of being able to leverage large, offline datasets for both evaluating and selecting complex policies for decision making. The ability to learn offline is particularly important in many real-world domains, such as in healthcare, recommender systems, or robotics, where online data collection is an expensive and potentially dangerous process. Being able to accurately evaluate and select high-performing policies without requiring online interaction could yield significant benefits in safety, time, and cost for these applications. While many OPE methods have been proposed in recent years, comparing results between papers is difficult because currently there is a lack of a comprehensive and unified benchmark, and measuring algorithmic progress has been challenging due to the lack of difficult evaluation tasks. In order to address this gap, we present a collection of policies that in conjunction with existing offline datasets can be used for benchmarking off-policy evaluation. Our tasks include a range of challenging high-dimensional continuous control problems, with wide selections of datasets and policies for performing policy selection. The goal of our benchmark is to provide a standardized measure of progress that is motivated from a set of principles designed to challenge and test the limits of existing OPE methods. We perform an evaluation of state-of-the-art algorithms and provide open-source access to our data and code to foster future research in this area.
Comparison of wide-band vibrotactile and friction modulation surface gratings
Venue: arXiv cs.HC 2021
Year: 2021

This study seeks to understand conditions under which virtual gratings produced via vibrotaction and friction modulation are perceived as similar and to find physical origins in the results. To accomplish this, we developed two single-axis devices, one based on electroadhesion and one based on out-of-plane vibration. The two devices had identical touch surfaces, and the vibrotactile device used a novel closed-loop controller to achieve precise control of out-of-plane plate displacement under varying load conditions across a wide range of frequencies. A first study measured the perceptual intensity equivalence curve of gratings generated under electroadhesion and vibrotaction across the 20-400Hz frequency range. A second study assessed the perceptual similarity between two forms of skin excitation given the same driving frequency and same perceived intensity. Our results indicate that it is largely the out-of-plane velocity that predicts vibrotactile intensity relative to shear forces generated by friction modulation. A high degree of perceptual similarity between gratings generated through friction modulation and through vibrotaction is apparent and tends to scale with actuation frequency suggesting perceptual indifference to the manner of fingerpad actuation in the upper frequency range.
Probabilistic Analogical Mapping with Semantic Relation Networks
Venue: arXiv cs.AI 2021
Year: 2021

The human ability to flexibly reason using analogies with domain-general content depends on mechanisms for identifying relations between concepts, and for mapping concepts and their relations across analogs. Building on a recent model of how semantic relations can be learned from non-relational word embeddings, we present a new computational model of mapping between two analogs. The model adopts a Bayesian framework for probabilistic graph matching, operating on semantic relation networks constructed from distributed representations of individual concepts and of relations between concepts. Through comparisons of model predictions with human performance in a novel mapping task requiring integration of multiple relations, as well as in several classic studies, we demonstrate that the model accounts for a broad range of phenomena involving analogical mapping by both adults and children. We also show the potential for extending the model to deal with analog retrieval. Our approach demonstrates that human-like analogical mapping can emerge from comparison mechanisms applied to rich semantic representations of individual concepts and relations.
Designing Building Blocks for Open-Ended Early Literacy Software
Venue: arXiv cs.HC 2021
Year: 2021

English has a convoluted relationship between its pronunciation and spelling, which obscures its phonological structure for early literacy learners. This convoluted relationship has implications for early literacy software, particularly for open-ended, child-driven designs. A tempting way to bypass this issue is to use manipulables (blocks) that are directly tied to phonemes. However, creating phoneme-based blocks leads to two design challenges: (a) how to represent phonemes visually in a child-accessible way and (b) how to account for context-dependent spelling. In the present work, we approached these challenges by developing a set of animated, onomatopoeia-based mnemonic characters, one per phoneme, that can take the shape of different graphemes.We applied the characters to a construction-based literacy app to simplify independent word-building for literacy beginners. We tested the app during a 13-week-long period with 4- to 5-year-olds in kindergarten classrooms. Children showed visible interest in the characters and properly grasped the principles of their functioning. However, the blocks were not sufficient to scaffold independent word building, leading children to rely on other scaffolding mechanisms. To test the characters' efficiency as mnemonics, we evaluated their effect on the speed and accuracy of finding phonemes on a keyboard. The results suggest that there were both children who benefitted from the characters in this task and those who performed better without them. The factors that differentiated these two categories are currently unclear. To help further research on phonetic mnemonics in literacy learning software, we are making the characters available to the research community.
An Exploration of Data Augmentation Techniques for Improving English to Tigrinya Translation
Venue: arXiv cs.CL 2021
Year: 2021

It has been shown that the performance of neural machine translation (NMT) drops starkly in low-resource conditions, often requiring large amounts of auxiliary data to achieve competitive results. An effective method of generating auxiliary data is back-translation of target language sentences. In this work, we present a case study of Tigrinya where we investigate several back-translation methods to generate synthetic source sentences. We find that in low-resource conditions, back-translation by pivoting through a higher-resource language related to the target language proves most effective resulting in substantial improvements over baselines.
Joint Khmer Word Segmentation and Part-of-Speech Tagging Using Deep Learning
Venue: arXiv cs.CL 2021
Year: 2021

Khmer text is written from left to right with optional space. Space is not served as a word boundary but instead, it is used for readability or other functional purposes. Word segmentation is a prior step for downstream tasks such as part-of-speech (POS) tagging and thus, the robustness of POS tagging highly depends on word segmentation. The conventional Khmer POS tagging is a two-stage process that begins with word segmentation and then actual tagging of each word, afterward. In this work, a joint word segmentation and POS tagging approach using a single deep learning model is proposed so that word segmentation and POS tagging can be performed spontaneously. The proposed model was trained and tested using the publicly available Khmer POS dataset. The validation suggested that the performance of the joint model is on par with the conventional two-stage POS tagging.
Self-Regression Learning for Blind Hyperspectral Image Fusion Without Label
Venue: arXiv cs.CV 2021
Year: 2021

Hyperspectral image fusion (HIF) is critical to a wide range of applications in remote sensing and many computer vision applications. Most traditional HIF methods assume that the observation model is predefined or known. However, in real applications, the observation model involved are often complicated and unknown, which leads to the serious performance drop of many advanced HIF methods. Also, deep learning methods can achieve outstanding performance, but they generally require a large number of image pairs for model training, which are difficult to obtain in realistic scenarios. Towards these issues, we proposed a self-regression learning method that alternatively reconstructs hyperspectral image (HSI) and estimate the observation model. In particular, we adopt an invertible neural network (INN) for restoring the HSI, and two fully-connected network (FCN) for estimating the observation model. Moreover, \emph{SoftMax} nonlinearity is applied to the FCN for satisfying the non-negative, sparsity and equality constraints. Besides, we proposed a local consistency loss function to constrain the observation model by exploring domain specific knowledge. Finally, we proposed an angular loss function to improve spectral reconstruction accuracy. Extensive experiments on both synthetic and real-world dataset show that our model can outperform the state-of-the-art methods
A Generalization of a Theorem of Rothschild and van Lint
Venue: arXiv cs.CC 2021
Year: 2021

A classical result of Rothschild and van Lint asserts that if every non-zero Fourier coefficient of a Boolean function $f$ over $\mathbb{F}_2^{n}$ has the same absolute value, namely $|\hat{f}(α)|=1/2^k$ for every $α$ in the Fourier support of $f$, then $f$ must be the indicator function of some affine subspace of dimension $n-k$. In this paper we slightly generalize their result. Our main result shows that, roughly speaking, Boolean functions whose Fourier coefficients take values in the set $\{-2/2^k, -1/2^k, 0, 1/2^k, 2/2^k\}$ are indicator functions of two disjoint affine subspaces of dimension $n-k$ or four disjoint affine subspace of dimension $n-k-1$. Our main technical tools are results from additive combinatorics which offer tight bounds on the affine span size of a subset of $\mathbb{F}_2^{n}$ when the doubling constant of the subset is small.
Learning Generalizable Robotic Reward Functions from "In-The-Wild" Human Videos
Venue: arXiv cs.RO 2021
Year: 2021

We are motivated by the goal of generalist robots that can complete a wide range of tasks across many environments. Critical to this is the robot's ability to acquire some metric of task success or reward, which is necessary for reinforcement learning, planning, or knowing when to ask for help. For a general-purpose robot operating in the real world, this reward function must also be able to generalize broadly across environments, tasks, and objects, while depending only on on-board sensor observations (e.g. RGB images). While deep learning on large and diverse datasets has shown promise as a path towards such generalization in computer vision and natural language, collecting high quality datasets of robotic interaction at scale remains an open challenge. In contrast, "in-the-wild" videos of humans (e.g. YouTube) contain an extensive collection of people doing interesting tasks across a diverse range of settings. In this work, we propose a simple approach, Domain-agnostic Video Discriminator (DVD), that learns multitask reward functions by training a discriminator to classify whether two videos are performing the same task, and can generalize by virtue of learning from a small amount of robot data with a broad dataset of human videos. We find that by leveraging diverse human datasets, this reward function (a) can generalize zero shot to unseen environments, (b) generalize zero shot to unseen tasks, and (c) can be combined with visual model predictive control to solve robotic manipulation tasks on a real WidowX200 robot in an unseen environment from a single human demo.
Attention Map-guided Two-stage Anomaly Detection using Hard Augmentation
Venue: arXiv cs.CV 2021
Year: 2021

Anomaly detection is a task that recognizes whether an input sample is included in the distribution of a target normal class or an anomaly class. Conventional generative adversarial network (GAN)-based methods utilize an entire image including foreground and background as an input. However, in these methods, a useless region unrelated to the normal class (e.g., unrelated background) is learned as normal class distribution, thereby leading to false detection. To alleviate this problem, this paper proposes a novel two-stage network consisting of an attention network and an anomaly detection GAN (ADGAN). The attention network generates an attention map that can indicate the region representing the normal class distribution. To generate an accurate attention map, we propose the attention loss and the adversarial anomaly loss based on synthetic anomaly samples generated from hard augmentation. By applying the attention map to an image feature map, ADGAN learns the normal class distribution from which the useless region is removed, and it is possible to greatly reduce the problem difficulty of the anomaly detection task. Additionally, the estimated attention map can be used for anomaly segmentation because it can distinguish between normal and anomaly regions. As a result, the proposed method outperforms the state-of-the-art anomaly detection and anomaly segmentation methods for widely used datasets.
Robust Registration of Multimodal Remote Sensing Images Based on Structural Similarity
Venue: arXiv cs.CV 2021
Year: 2021

Automatic registration of multimodal remote sensing data (e.g., optical, LiDAR, SAR) is a challenging task due to the significant non-linear radiometric differences between these data. To address this problem, this paper proposes a novel feature descriptor named the Histogram of Orientated Phase Congruency (HOPC), which is based on the structural properties of images. Furthermore, a similarity metric named HOPCncc is defined, which uses the normalized correlation coefficient (NCC) of the HOPC descriptors for multimodal registration. In the definition of the proposed similarity metric, we first extend the phase congruency model to generate its orientation representation, and use the extended model to build HOPCncc. Then a fast template matching scheme for this metric is designed to detect the control points between images. The proposed HOPCncc aims to capture the structural similarity between images, and has been tested with a variety of optical, LiDAR, SAR and map data. The results show that HOPCncc is robust against complex non-linear radiometric differences and outperforms the state-of-the-art similarities metrics (i.e., NCC and mutual information) in matching performance. Moreover, a robust registration method is also proposed in this paper based on HOPCncc, which is evaluated using six pairs of multimodal remote sensing images. The experimental results demonstrate the effectiveness of the proposed method for multimodal image registration.
Generating Multi-scale Maps from Remote Sensing Images via Series Generative Adversarial Networks
Venue: arXiv cs.CV 2021
Year: 2021

Considering the success of generative adversarial networks (GANs) for image-to-image translation, researchers have attempted to translate remote sensing images (RSIs) to maps (rs2map) through GAN for cartography. However, these studies involved limited scales, which hinders multi-scale map creation. By extending their method, multi-scale RSIs can be trivially translated to multi-scale maps (multi-scale rs2map translation) through scale-wise rs2map models trained for certain scales (parallel strategy). However, this strategy has two theoretical limitations. First, inconsistency between various spatial resolutions of multi-scale RSIs and object generalization on multi-scale maps (RS-m inconsistency) increasingly complicate the extraction of geographical information from RSIs for rs2map models with decreasing scale. Second, as rs2map translation is cross-domain, generators incur high computation costs to transform the RSI pixel distribution to that on maps. Thus, we designed a series strategy of generators for multi-scale rs2map translation to address these limitations. In this strategy, high-resolution RSIs are inputted to an rs2map model to output large-scale maps, which are translated to multi-scale maps through series multi-scale map translation models. The series strategy avoids RS-m inconsistency as inputs are high-resolution large-scale RSIs, and reduces the distribution gap in multi-scale map generation through similar pixel distributions among multi-scale maps. Our experimental results showed better quality multi-scale map generation with the series strategy, as shown by average increases of 11.69%, 53.78%, 55.42%, and 72.34% in the structural similarity index, edge structural similarity index, intersection over union (road), and intersection over union (water) for data from Mexico City and Tokyo at zoom level 17-13.
Neural Surface Maps
Venue: arXiv cs.CV 2021
Year: 2021

Maps are arguably one of the most fundamental concepts used to define and operate on manifold surfaces in differentiable geometry. Accordingly, in geometry processing, maps are ubiquitous and are used in many core applications, such as paramterization, shape analysis, remeshing, and deformation. Unfortunately, most computational representations of surface maps do not lend themselves to manipulation and optimization, usually entailing hard, discrete problems. While algorithms exist to solve these problems, they are problem-specific, and a general framework for surface maps is still in need. In this paper, we advocate considering neural networks as encoding surface maps. Since neural networks can be composed on one another and are differentiable, we show it is easy to use them to define surfaces via atlases, compose them for surface-to-surface mappings, and optimize differentiable objectives relating to them, such as any notion of distortion, in a trivial manner. In our experiments, we represent surfaces by generating a neural map that approximates a UV parameterization of a 3D model. Then, we compose this map with other neural maps which we optimize with respect to distortion measures. We show that our formulation enables trivial optimization of rather elusive mapping tasks, such as maps between a collection of surfaces.
Efficient Large-Scale Face Clustering Using an Online Mixture of Gaussians
Venue: arXiv cs.CV 2021
Year: 2021

In this work, we address the problem of large-scale online face clustering: given a continuous stream of unknown faces, create a database grouping the incoming faces by their identity. The database must be updated every time a new face arrives. In addition, the solution must be efficient, accurate and scalable. For this purpose, we present an online gaussian mixture-based clustering method (OGMC). The key idea of this method is the proposal that an identity can be represented by more than just one distribution or cluster. Using feature vectors (f-vectors) extracted from the incoming faces, OGMC generates clusters that may be connected to others depending on their proximity and their robustness. Every time a cluster is updated with a new sample, its connections are also updated. With this approach, we reduce the dependency of the clustering process on the order and the size of the incoming data and we are able to deal with complex data distributions. Experimental results show that the proposed approach outperforms state-of-the-art clustering methods on large-scale face clustering benchmarks not only in accuracy, but also in efficiency and scalability.
SST-GNN: Simplified Spatio-temporal Traffic forecasting model using Graph Neural Network
Venue: arXiv cs.LG 2021
Year: 2021

To capture spatial relationships and temporal dynamics in traffic data, spatio-temporal models for traffic forecasting have drawn significant attention in recent years. Most of the recent works employed graph neural networks(GNN) with multiple layers to capture the spatial dependency. However, road junctions with different hop-distance can carry distinct traffic information which should be exploited separately but existing multi-layer GNNs are incompetent to discriminate between their impact. Again, to capture the temporal interrelationship, recurrent neural networks are common in state-of-the-art approaches that often fail to capture long-range dependencies. Furthermore, traffic data shows repeated patterns in a daily or weekly period which should be addressed explicitly. To address these limitations, we have designed a Simplified Spatio-temporal Traffic forecasting GNN(SST-GNN) that effectively encodes the spatial dependency by separately aggregating different neighborhood representations rather than with multiple layers and capture the temporal dependency with a simple yet effective weighted spatio-temporal aggregation mechanism. We capture the periodic traffic patterns by using a novel position encoding scheme with historical and current data in two different models. With extensive experimental analysis, we have shown that our model has significantly outperformed the state-of-the-art models on three real-world traffic datasets from the Performance Measurement System (PeMS).
A comparative evaluation of learned feature descriptors on hybrid monocular visual SLAM methods
Venue: arXiv cs.CV 2021
Year: 2021

Classical Visual Simultaneous Localization and Mapping (VSLAM) algorithms can be easily induced to fail when either the robot's motion or the environment is too challenging. The use of Deep Neural Networks to enhance VSLAM algorithms has recently achieved promising results, which we call hybrid methods. In this paper, we compare the performance of hybrid monocular VSLAM methods with different learned feature descriptors. To this end, we propose a set of experiments to evaluate the robustness of the algorithms under different environments, camera motion, and camera sensor noise. Experiments conducted on KITTI and Euroc MAV datasets confirm that learned feature descriptors can create more robust VSLAM systems.
Vertex Connectivity in Poly-logarithmic Max-flows
Venue: arXiv cs.DS 2021
Year: 2021

The vertex connectivity of an $m$-edge $n$-vertex undirected graph is the smallest number of vertices whose removal disconnects the graph, or leaves only a singleton vertex. In this paper, we give a reduction from the vertex connectivity problem to a set of maxflow instances. Using this reduction, we can solve vertex connectivity in $\tilde O(m^α)$ time for any $α\ge 1$, if there is a $m^α$-time maxflow algorithm. Using the current best maxflow algorithm that runs in $m^{4/3+o(1)}$ time (Kathuria, Liu and Sidford, FOCS 2020), this yields a $m^{4/3+o(1)}$-time vertex connectivity algorithm. This is the first improvement in the running time of the vertex connectivity problem in over 20 years, the previous best being an $\tilde O(mn)$-time algorithm due to Henzinger, Rao, and Gabow (FOCS 1996). Indeed, no algorithm with an $o(mn)$ running time was known before our work, even if we assume an $\tilde O(m)$-time maxflow algorithm. Our new technique is robust enough to also improve the best $\tilde O(mn)$-time bound for directed vertex connectivity to $mn^{1-1/12+o(1)}$ time