OpenRaiser/Intern-Atlas huggingface dataset:
Human-guided Robot Behavior Learning: A GAN-assisted Preference-based Reinforcement Learning Approach
Venue: arXiv cs.RO 2020
Year: 2020

Human demonstrations can provide trustful samples to train reinforcement learning algorithms for robots to learn complex behaviors in real-world environments. However, obtaining sufficient demonstrations may be impractical because many behaviors are difficult for humans to demonstrate. A more practical approach is to replace human demonstrations by human queries, i.e., preference-based reinforcement learning. One key limitation of the existing algorithms is the need for a significant amount of human queries because a large number of labeled data is needed to train neural networks for the approximation of a continuous, high-dimensional reward function. To reduce and minimize the need for human queries, we propose a new GAN-assisted human preference-based reinforcement learning approach that uses a generative adversarial network (GAN) to actively learn human preferences and then replace the role of human in assigning preferences. The adversarial neural network is simple and only has a binary output, hence requiring much less human queries to train. Moreover, a maximum entropy based reinforcement learning algorithm is designed to shape the loss towards the desired regions or away from the undesired regions. To show the effectiveness of the proposed approach, we present some studies on complex robotic tasks without access to the environment reward in a typical MuJoCo robot locomotion environment. The obtained results show our method can achieve a reduction of about 99.8% human time without performance sacrifice.
Masked Contrastive Representation Learning for Reinforcement Learning
Venue: arXiv cs.LG 2020
Year: 2020

Improving sample efficiency is a key research problem in reinforcement learning (RL), and CURL, which uses contrastive learning to extract high-level features from raw pixels of individual video frames, is an efficient algorithm~\citep{srinivas2020curl}. We observe that consecutive video frames in a game are highly correlated but CURL deals with them independently. To further improve data efficiency, we propose a new algorithm, masked contrastive representation learning for RL, that takes the correlation among consecutive inputs into consideration. In addition to the CNN encoder and the policy network in CURL, our method introduces an auxiliary Transformer module to leverage the correlations among video frames. During training, we randomly mask the features of several frames, and use the CNN encoder and Transformer to reconstruct them based on the context frames. The CNN encoder and Transformer are jointly trained via contrastive learning where the reconstructed features should be similar to the ground-truth ones while dissimilar to others. During inference, the CNN encoder and the policy network are used to take actions, and the Transformer module is discarded. Our method achieves consistent improvements over CURL on $14$ out of $16$ environments from DMControl suite and $21$ out of $26$ environments from Atari 2600 Games. The code is available at https://github.com/teslacool/m-curl.
Locomotion Design for an Internally Actuated Cubic Robot for Exploration of Low Gravity Bodies in the Solar System
Venue: arXiv cs.RO 2020
Year: 2020

The exploration of asteroids and comets is important in the quest for the formation of the Solar System and it is an important step for human space travel. Moving on the surface of asteroids is challenging for future robotic explorers due to the weak gravity force. In this research, an approach that is based on a new kind of jumping rovers is presented. This robotic platform has internal masses and by spinning up these flywheels and suddenly stopping them, it is feasible to perform a hop from a few meters up to hundreds of meters. In contrast to related works where robotic explorers usually stop a flywheel instantaneously, the INAHOPPER prototype takes advantage of on stopping a flywheel by voltage inversion in a short lapse to modify the launch angle, a very useful action over terrains with different degrees of inclination. This article discusses, first, the dynamics of the rover for a 2D model, second, the control algorithm executed in the prototype for braking the flywheel, and third, the analysis of the performance of the flywheel to make simulations of the trajectories over an asteroid.
Designing Emergency Response Pipelines : Lessons and Challenges
Venue: arXiv cs.AI 2020
Year: 2020

Emergency response to incidents such as accidents, crimes, and fires is a major problem faced by communities. Emergency response management comprises of several stages and sub-problems like forecasting, resource allocation, and dispatch. The design of principled approaches to tackle each problem is necessary to create efficient emergency response management (ERM) pipelines. Over the last six years, we have worked with several first responder organizations to design ERM pipelines. In this paper, we highlight some of the challenges that we have identified and lessons that we have learned through our experience in this domain. Such challenges are particularly relevant for practitioners and researchers, and are important considerations even in the design of response strategies to mitigate disasters like floods and earthquakes.
World Age in Julia: Optimizing Method Dispatch in the Presence of Eval (Extended Version)
Venue: arXiv cs.PL 2020
Year: 2020

Dynamic programming languages face semantic and performance challenges in the presence of features, such as eval, that can inject new code into a running program. The Julia programming language introduces the novel concept of world age to insulate optimized code from one of the most disruptive side-effects of eval: changes to the definition of an existing function. This paper provides the first formal semantics of world age in a core calculus named Juliette, and shows how world age enables compiler optimizations, such as inlining, in the presence of eval. While Julia also provides programmers with the means to bypass world age, we found that this mechanism is not used extensively: a static analysis of over 4,000 registered Julia packages shows that only 4-9% of packages bypass world age. This suggests that Julia's semantics aligns with programmer expectations.
Automatic Analysis and Influence of Hierarchical Structure on Melody, Rhythm and Harmony in Popular Music
Venue: arXiv cs.SD 2020
Year: 2020

Repetition is a basic indicator of musical structure. This study introduces new algorithms for identifying musical phrases based on repetition. Phrases combine to form sections yielding a two-level hierarchical structure. Automatically detected hierarchical repetition structures reveal significant interactions between structure and chord progressions, melody and rhythm. Different levels of hierarchy interact differently, providing evidence that structural hierarchy plays an important role in music beyond simple notions of repetition or similarity. Our work suggests new applications for music generation and music evaluation.
Introducing Artificial Intelligence Agents to the Empirical Measurement of Design Properties for Aspect Oriented Software Development
Venue: arXiv cs.SE 2020
Year: 2020

The proponents of Aspect Oriented Software Development (AOSD) methodology have done a tremendous amount of work to bring out the positive effects of its adoption using quantitative assessment. A structured assessment of the methodology requires a well-defined quality model. In this paper, an AI agent based quality model has been proposed to evaluate the effect of aspectization. The model has been applied on already existing and equivalent versions of object oriented and aspect oriented case study application, university automation software. Specific metrics for the software design properties have been measured using AI agents for the different versions and were used to infer upon the effect on quality. Based on the initial measurement, it was found that aspectization has positively improved all the three quality attributes defined in the quality model. The attributes of evolution and reusability showed significant improvement in quality due to the effect of aspectization.
Deep Learning of Koopman Representation for Control
Venue: arXiv cs.LG 2020
Year: 2020

We develop a data-driven, model-free approach for the optimal control of the dynamical system. The proposed approach relies on the Deep Neural Network (DNN) based learning of Koopman operator for the purpose of control. In particular, DNN is employed for the data-driven identification of basis function used in the linear lifting of nonlinear control system dynamics. The controller synthesis is purely data-driven and does not rely on a priori domain knowledge. The OpenAI Gym environment, employed for Reinforcement Learning-based control design, is used for data generation and learning of Koopman operator in control setting. The method is applied to two classic dynamical systems on OpenAI Gym environment to demonstrate the capability.
A Robust Deep Unfolded Network for Sparse Signal Recovery from Noisy Binary Measurements
Venue: arXiv cs.LG 2020
Year: 2020

We propose a novel deep neural network, coined DeepFPC-$\ell_2$, for solving the 1-bit compressed sensing problem. The network is designed by unfolding the iterations of the fixed-point continuation (FPC) algorithm with one-sided $\ell_2$-norm (FPC-$\ell_2$). The DeepFPC-$\ell_2$ method shows higher signal reconstruction accuracy and convergence speed than the traditional FPC-$\ell_2$ algorithm. Furthermore, we compare its robustness to noise with the previously proposed DeepFPC network---which stemmed from unfolding the FPC-$\ell_1$ algorithm---for different signal to noise ratio (SNR) and sign-flipped ratio (flip ratio) scenarios. We show that the proposed network has better noise immunity than the previous DeepFPC method. This result indicates that the robustness of a deep-unfolded neural network is related with that of the algorithm it stems from.
Depth-Width Trade-offs for Neural Networks via Topological Entropy
Venue: arXiv cs.LG 2020
Year: 2020

One of the central problems in the study of deep learning theory is to understand how the structure properties, such as depth, width and the number of nodes, affect the expressivity of deep neural networks. In this work, we show a new connection between the expressivity of deep neural networks and topological entropy from dynamical system, which can be used to characterize depth-width trade-offs of neural networks. We provide an upper bound on the topological entropy of neural networks with continuous semi-algebraic units by the structure parameters. Specifically, the topological entropy of ReLU network with $l$ layers and $m$ nodes per layer is upper bounded by $O(l\log m)$. Besides, if the neural network is a good approximation of some function $f$, then the size of the neural network has an exponential lower bound with respect to the topological entropy of $f$. Moreover, we discuss the relationship between topological entropy, the number of oscillations, periods and Lipschitz constant.
HS-ResNet: Hierarchical-Split Block on Convolutional Neural Network
Venue: arXiv cs.CV 2020
Year: 2020

This paper addresses representational block named Hierarchical-Split Block, which can be taken as a plug-and-play block to upgrade existing convolutional neural networks, improves model performance significantly in a network. Hierarchical-Split Block contains many hierarchical split and concatenate connections within one single residual block. We find multi-scale features is of great importance for numerous vision tasks. Moreover, Hierarchical-Split block is very flexible and efficient, which provides a large space of potential network architectures for different applications. In this work, we present a common backbone based on Hierarchical-Split block for tasks: image classification, object detection, instance segmentation and semantic image segmentation/parsing. Our approach shows significant improvements over all these core tasks in comparison with the baseline. As shown in Figure1, for image classification, our 50-layers network(HS-ResNet50) achieves 81.28% top-1 accuracy with competitive latency on ImageNet-1k dataset. It also outperforms most state-of-the-art models. The source code and models will be available on: https://github.com/PaddlePaddle/PaddleClas
Workload-Aware Systems and Interfaces for Cognitive Augmentation
Venue: arXiv cs.HC 2020
Year: 2020

In today's society, our cognition is constantly influenced by information intake, attention switching, and task interruptions. This increases the difficulty of a given task, adding to the existing workload and leading to compromised cognitive performances. The human body expresses the use of cognitive resources through physiological responses when confronted with a plethora of cognitive workload. This temporarily mobilizes additional resources to deal with the workload at the cost of accelerated mental exhaustion. We predict that recent developments in physiological sensing will increasingly create user interfaces that are aware of the user's cognitive capacities, hence able to intervene when high or low states of cognitive workload are detected. Subsequently, we investigate suitable feedback modalities in a user-centric design process which are desirable for cognitive assistance. We then investigate different physiological sensing modalities to enable suitable real-time assessments of cognitive workload. We provide evidence that the human brain and eye gaze are sensitive to fluctuations in cognitive resting states. We show that electroencephalography and eye tracking are reliable modalities to assess mental workload during user interface operation. In the end, we present applications that regulate cognitive workload in home and work setting, investigate how cognitive workload can be visualized to the user, and show how cognitive workload measurements can be used to predict the efficiency of information intake through reading interfaces. Finally, we present our vision of future workload-aware interfaces. Previous interfaces were limited in their ability to utilize cognitive workload for user interaction. Together with the collected data sets, this thesis paves the way for methodical and technical tools that integrate workload-awareness as a factor for context-aware systems.
Does Chinese BERT Encode Word Structure?
Venue: arXiv cs.CL 2020
Year: 2020

Contextualized representations give significantly improved results for a wide range of NLP tasks. Much work has been dedicated to analyzing the features captured by representative models such as BERT. Existing work finds that syntactic, semantic and word sense knowledge are encoded in BERT. However, little work has investigated word features for character-based languages such as Chinese. We investigate Chinese BERT using both attention weight distribution statistics and probing tasks, finding that (1) word information is captured by BERT; (2) word-level features are mostly in the middle representation layers; (3) downstream tasks make different use of word features in BERT, with POS tagging and chunking relying the most on word features, and natural language inference relying the least on such features.
Generalizing Universal Adversarial Attacks Beyond Additive Perturbations
Venue: arXiv cs.CV 2020
Year: 2020

The previous study has shown that universal adversarial attacks can fool deep neural networks over a large set of input images with a single human-invisible perturbation. However, current methods for universal adversarial attacks are based on additive perturbation, which cause misclassification when the perturbation is directly added to the input images. In this paper, for the first time, we show that a universal adversarial attack can also be achieved via non-additive perturbation (e.g., spatial transformation). More importantly, to unify both additive and non-additive perturbations, we propose a novel unified yet flexible framework for universal adversarial attacks, called GUAP, which is able to initiate attacks by additive perturbation, non-additive perturbation, or the combination of both. Extensive experiments are conducted on CIFAR-10 and ImageNet datasets with six deep neural network models including GoogleLeNet, VGG16/19, ResNet101/152, and DenseNet121. The empirical experiments demonstrate that GUAP can obtain up to 90.9% and 99.24% successful attack rates on CIFAR-10 and ImageNet datasets, leading to over 15% and 19% improvements respectively than current state-of-the-art universal adversarial attacks. The code for reproducing the experiments in this paper is available at https://github.com/TrustAI/GUAP.
Large Very Dense Subgraphs in a Stream of Edges
Venue: arXiv cs.DS 2020
Year: 2020

We study the detection and the reconstruction of a large very dense subgraph in a social graph with $n$ nodes and $m$ edges given as a stream of edges, when the graph follows a power law degree distribution, in the regime when $m=O(n. \log n)$. A subgraph $S$ is very dense if it has $Ω(|S|^2)$ edges. We uniformly sample the edges with a Reservoir of size $k=O(\sqrt{n}.\log n)$. Our detection algorithm checks whether the Reservoir has a giant component. We show that if the graph contains a very dense subgraph of size $Ω(\sqrt{n})$, then the detection algorithm is almost surely correct. On the other hand, a random graph that follows a power law degree distribution almost surely has no large very dense subgraph, and the detection algorithm is almost surely correct. We define a new model of random graphs which follow a power law degree distribution and have large very dense subgraphs. We then show that on this class of random graphs we can reconstruct a good approximation of the very dense subgraph with high probability. We generalize these results to dynamic graphs defined by sliding windows in a stream of edges.
Camera Travel for Immersive Colonography
Venue: arXiv cs.HC 2020
Year: 2020

Immersive Colonography allows medical professionals to navigate inside the intricate tubular geometries of subject-specific 3D colon images using Virtual Reality displays. Typically, camera travel is performed via Fly-Through or Fly-Over techniques that enable semi-automatic traveling through a constrained, well-defined path at user controlled speeds. However, Fly-Through is known to limit the visibility of lesions located behind or inside haustral folds, while Fly-Over requires splitting the entire colon visualization into two specific halves. In this paper, we study the effect of immersive Fly-Through and Fly-Over techniques on lesion detection, and introduce a camera travel technique that maintains a fixed camera orientation throughout the entire medial axis path. While these techniques have been studied in non-VR desktop environments, their performance is yet not well understood in VR setups. We performed a comparative study to ascertain which camera travel technique is more appropriate for constrained path navigation in Immersive Colonography. To this end, we asked 18 participants to navigate inside a 3D colon to find specific marks. Our results suggest that the Fly-Over technique may lead to enhanced lesion detection at the cost of higher task completion times, while the Fly-Through method may offer a more balanced trade-off between both speed and effectiveness, whereas the fixed camera orientation technique provided seemingly inferior performance results. Our study further provides design guidelines and informs future work.
Spiking Neural Networks with Single-Spike Temporal-Coded Neurons for Network Intrusion Detection
Venue: arXiv cs.LG 2020
Year: 2020

Spiking neural network (SNN) is interesting due to its strong bio-plausibility and high energy efficiency. However, its performance is falling far behind conventional deep neural networks (DNNs). In this paper, considering a general class of single-spike temporal-coded integrate-and-fire neurons, we analyze the input-output expressions of both leaky and nonleaky neurons. We show that SNNs built with leaky neurons suffer from the overly-nonlinear and overly-complex input-output response, which is the major reason for their difficult training and low performance. This reason is more fundamental than the commonly believed problem of nondifferentiable spikes. To support this claim, we show that SNNs built with nonleaky neurons can have a less-complex and less-nonlinear input-output response. They can be easily trained and can have superior performance, which is demonstrated by experimenting with the SNNs over two popular network intrusion detection datasets, i.e., the NSL-KDD and the AWID datasets. Our experiment results show that the proposed SNNs outperform a comprehensive list of DNN models and classic machine learning models. This paper demonstrates that SNNs can be promising and competitive in contrast to common beliefs.
Research on AI Composition Recognition Based on Music Rules
Venue: arXiv cs.AI 2020
Year: 2020

The development of artificial intelligent composition has resulted in the increasing popularity of machine-generated pieces, with frequent copyright disputes consequently emerging. There is an insufficient amount of research on the judgement of artificial and machine-generated works; the creation of a method to identify and distinguish these works is of particular importance. Starting from the essence of the music, the article constructs a music-rule-identifying algorithm through extracting modes, which will identify the stability of the mode of machine-generated music, to judge whether it is artificial intelligent. The evaluation datasets used are provided by the Conference on Sound and Music Technology(CSMT). Experimental results demonstrate the algorithm to have a successful distinguishing ability between datasets with different source distributions. The algorithm will also provide some technological reference to the benign development of the music copyright and artificial intelligent music.
Representation Learning via Invariant Causal Mechanisms
Venue: arXiv cs.LG 2020
Year: 2020

Self-supervised learning has emerged as a strategy to reduce the reliance on costly supervised signal by pretraining representations only using unlabeled data. These methods combine heuristic proxy classification tasks with data augmentations and have achieved significant success, but our theoretical understanding of this success remains limited. In this paper we analyze self-supervised representation learning using a causal framework. We show how data augmentations can be more effectively utilized through explicit invariance constraints on the proxy classifiers employed during pretraining. Based on this, we propose a novel self-supervised objective, Representation Learning via Invariant Causal Mechanisms (ReLIC), that enforces invariant prediction of proxy targets across augmentations through an invariance regularizer which yields improved generalization guarantees. Further, using causality we generalize contrastive learning, a particular kind of self-supervised method, and provide an alternative theoretical explanation for the success of these methods. Empirically, ReLIC significantly outperforms competing methods in terms of robustness and out-of-distribution generalization on ImageNet, while also significantly outperforming these methods on Atari achieving above human-level performance on $51$ out of $57$ games.