OpenRaiser/Intern-Atlas huggingface dataset:
Bootstrapping Human Optical Flow and Pose
Venue: arXiv cs.CV 2022
Year: 2022

We propose a bootstrapping framework to enhance human optical flow and pose. We show that, for videos involving humans in scenes, we can improve both the optical flow and the pose estimation quality of humans by considering the two tasks at the same time. We enhance optical flow estimates by fine-tuning them to fit the human pose estimates and vice versa. In more detail, we optimize the pose and optical flow networks to, at inference time, agree with each other. We show that this results in state-of-the-art results on the Human 3.6M and 3D Poses in the Wild datasets, as well as a human-related subset of the Sintel dataset, both in terms of pose estimation accuracy and the optical flow accuracy at human joint locations. Code available at https://github.com/ubc-vision/bootstrapping-human-optical-flow-and-pose
SWheg: A Wheel-Leg Transformable Robot With Minimalist Actuator Realization
Venue: arXiv cs.RO 2022
Year: 2022

This article presents the design, implementation, and performance evaluation of SWheg, a novel modular wheel-leg transformable robot family with minimalist actuator realization. SWheg takes advantage of both wheeled and legged locomotion by seamlessly integrating them on a single platform. In contrast to other designs that use multiple actuators, SWheg uses only one actuator to drive the transformation of all the wheel-leg modules in sync. This means an N-legged SWheg robot requires only N+1 actuators, which can significantly reduce the cost and malfunction rate of the platform. The tendon-driven wheel-leg transformation mechanism based on a four-bar linkage can perform fast morphology transitions between wheels and legs. We validated the design principle with two SWheg robots with four and six wheel-leg modules separately, namely Quadrupedal SWheg and Hexapod SWheg. The design process, mechatronics infrastructure, and the gait behavioral development of both platforms were discussed. The performance of the robot was evaluated in various scenarios, including driving and turning in wheeled mode, step crossing, irregular terrain passing, and stair climbing in legged mode. The comparison between these two platforms was also discussed.
Learning Variational Motion Prior for Video-based Motion Capture
Venue: arXiv cs.CV 2022
Year: 2022

Motion capture from a monocular video is fundamental and crucial for us humans to naturally experience and interact with each other in Virtual Reality (VR) and Augmented Reality (AR). However, existing methods still struggle with challenging cases involving self-occlusion and complex poses due to the lack of effective motion prior modeling. In this paper, we present a novel variational motion prior (VMP) learning approach for video-based motion capture to resolve the above issue. Instead of directly building the correspondence between the video and motion domain, We propose to learn a generic latent space for capturing the prior distribution of all natural motions, which serve as the basis for subsequent video-based motion capture tasks. To improve the generalization capacity of prior space, we propose a transformer-based variational autoencoder pretrained over marker-based 3D mocap data, with a novel style-mapping block to boost the generation quality. Afterward, a separate video encoder is attached to the pretrained motion generator for end-to-end fine-tuning over task-specific video datasets. Compared to existing motion prior models, our VMP model serves as a motion rectifier that can effectively reduce temporal jittering and failure modes in frame-wise pose estimation, leading to temporally stable and visually realistic motion capture results. Furthermore, our VMP-based framework models motion at sequence level and can directly generate motion clips in the forward pass, achieving real-time motion capture during inference. Extensive experiments over both public datasets and in-the-wild videos have demonstrated the efficacy and generalization capability of our framework.
Conversing with Copilot: Exploring Prompt Engineering for Solving CS1 Problems Using Natural Language
Venue: arXiv cs.HC 2022
Year: 2022

GitHub Copilot is an artificial intelligence model for automatically generating source code from natural language problem descriptions. Since June 2022, Copilot has officially been available for free to all students as a plug-in to development environments like Visual Studio Code. Prior work exploring OpenAI Codex, the underlying model that powers Copilot, has shown it performs well on typical CS1 problems thus raising concerns about the impact it will have on how introductory programming courses are taught. However, little is known about the types of problems for which Copilot does not perform well, or about the natural language interactions that a student might have with Copilot when resolving errors. We explore these questions by evaluating the performance of Copilot on a publicly available dataset of 166 programming problems. We find that it successfully solves around half of these problems on its very first attempt, and that it solves 60\% of the remaining problems using only natural language changes to the problem description. We argue that this type of prompt engineering, which we believe will become a standard interaction between human and Copilot when it initially fails, is a potentially useful learning activity that promotes computational thinking skills, and is likely to change the nature of code writing skill development.
SSD: Towards Better Text-Image Consistency Metric in Text-to-Image Generation
Venue: arXiv cs.CV 2022
Year: 2022

Generating consistent and high-quality images from given texts is essential for visual-language understanding. Although impressive results have been achieved in generating high-quality images, text-image consistency is still a major concern in existing GAN-based methods. Particularly, the most popular metric $R$-precision may not accurately reflect the text-image consistency, often resulting in very misleading semantics in the generated images. Albeit its significance, how to design a better text-image consistency metric surprisingly remains under-explored in the community. In this paper, we make a further step forward to develop a novel CLIP-based metric termed as Semantic Similarity Distance ($SSD$), which is both theoretically founded from a distributional viewpoint and empirically verified on benchmark datasets. Benefiting from the proposed metric, we further design the Parallel Deep Fusion Generative Adversarial Networks (PDF-GAN) that aims at improving text-image consistency by fusing semantic information at different granularities and capturing accurate semantics. Equipped with two novel plug-and-play components: Hard-Negative Sentence Constructor and Semantic Projection, the proposed PDF-GAN can mitigate inconsistent semantics and bridge the text-image semantic gap. A series of experiments show that, as opposed to current state-of-the-art methods, our PDF-GAN can lead to significantly better text-image consistency while maintaining decent image quality on the CUB and COCO datasets.
Learning Deep Robotic Skills on Riemannian manifolds
Venue: arXiv cs.RO 2022
Year: 2022

In this paper, we propose RiemannianFlow, a deep generative model that allows robots to learn complex and stable skills evolving on Riemannian manifolds. Examples of Riemannian data in robotics include stiffness (symmetric and positive definite matrix (SPD)) and orientation (unit quaternion (UQ)) trajectories. For Riemannian data, unlike Euclidean ones, different dimensions are interconnected by geometric constraints which have to be properly considered during the learning process. Using distance preserving mappings, our approach transfers the data between their original manifold and the tangent space, realizing the removing and re-fulfilling of the geometric constraints. This allows to extend existing frameworks to learn stable skills from Riemannian data while guaranteeing the stability of the learning results. The ability of RiemannianFlow to learn various data patterns and the stability of the learned models are experimentally shown on a dataset of manifold motions. Further, we analyze from different perspectives the robustness of the model with different hyperparameter combinations. It turns out that the model's stability is not affected by different hyperparameters, a proper combination of the hyperparameters leads to a significant improvement (up to 27.6%) of the model accuracy. Last, we show the effectiveness of RiemannianFlow in a real peg-in-hole (PiH) task where we need to generate stable and consistent position and orientation trajectories for the robot starting from different initial poses.
PolyGloT: A Personalized and Gamified eTutoring System
Venue: arXiv cs.SE 2022
Year: 2022

The digital age is changing the role of educators and pushing for a paradigm shift in the education system as a whole. Growing demand for general and specialized education inside and outside classrooms is at the heart of this rising trend. In modern, heterogeneous learning environments, the one-size-fits-all approach is proven to be fundamentally flawed. Individualization through adaptivity is, therefore, crucial to nurture individual potential and address accessibility needs and neurodiversity. By formalizing a learning framework that takes into account all these different aspects, we aim to define and implement an open, content-agnostic, and extensible eTutoring platform to design and consume adaptive and gamified learning experiences. Adaptive technology supplementing teaching can extend the reach of every teacher, making it possible to scale 1-1 learning experiences. There are many successful existing technologies available but they come with fixed environments that are not always suitable for the targeted audiences of the course material. This paper presents PolyGloT, a system able to help teachers to design and implement a gamified and adaptive learning paths. Through it we address some important issues including the engagement, fairness, and effectiveness of learning environments. We do not only propose an innovative platform that could foster the learning process of different disciplines, but it could also help teachers and instructors in organizing learning material in an easy-access repository
On the Approximation and Complexity of Deep Neural Networks to Invariant Functions
Venue: arXiv cs.LG 2022
Year: 2022

Recent years have witnessed a hot wave of deep neural networks in various domains; however, it is not yet well understood theoretically. A theoretical characterization of deep neural networks should point out their approximation ability and complexity, i.e., showing which architecture and size are sufficient to handle the concerned tasks. This work takes one step on this direction by theoretically studying the approximation and complexity of deep neural networks to invariant functions. We first prove that the invariant functions can be universally approximated by deep neural networks. Then we show that a broad range of invariant functions can be asymptotically approximated by various types of neural network models that includes the complex-valued neural networks, convolutional neural networks, and Bayesian neural networks using a polynomial number of parameters or optimization iterations. We also provide a feasible application that connects the parameter estimation and forecasting of high-resolution signals with our theoretical conclusions. The empirical results obtained on simulation experiments demonstrate the effectiveness of our method.
Towards Language-driven Scientific AI
Venue: arXiv cs.CL 2022
Year: 2022

Inspired by recent and revolutionary developments in AI, particularly in language understanding and generation, we set about designing AI systems that are able to address complex scientific tasks that challenge human capabilities to make new discoveries. Central to our approach is the notion of natural language as core representation, reasoning, and exchange format between scientific AI and human scientists. In this paper, we identify and discuss some of the main research challenges to accomplish such vision.
Leveraging knowledge graphs to update scientific word embeddings using latent semantic imputation
Venue: arXiv cs.CL 2022
Year: 2022

The most interesting words in scientific texts will often be novel or rare. This presents a challenge for scientific word embedding models to determine quality embedding vectors for useful terms that are infrequent or newly emerging. We demonstrate how \gls{lsi} can address this problem by imputing embeddings for domain-specific words from up-to-date knowledge graphs while otherwise preserving the original word embedding model. We use the MeSH knowledge graph to impute embedding vectors for biomedical terminology without retraining and evaluate the resulting embedding model on a domain-specific word-pair similarity task. We show that LSI can produce reliable embedding vectors for rare and OOV terms in the biomedical domain.
Exploiting modality-invariant feature for robust multimodal emotion recognition with missing modalities
Venue: arXiv cs.CV 2022
Year: 2022

Multimodal emotion recognition leverages complementary information across modalities to gain performance. However, we cannot guarantee that the data of all modalities are always present in practice. In the studies to predict the missing data across modalities, the inherent difference between heterogeneous modalities, namely the modality gap, presents a challenge. To address this, we propose to use invariant features for a missing modality imagination network (IF-MMIN) which includes two novel mechanisms: 1) an invariant feature learning strategy that is based on the central moment discrepancy (CMD) distance under the full-modality scenario; 2) an invariant feature based imagination module (IF-IM) to alleviate the modality gap during the missing modalities prediction, thus improving the robustness of multimodal joint representation. Comprehensive experiments on the benchmark dataset IEMOCAP demonstrate that the proposed model outperforms all baselines and invariantly improves the overall emotion recognition performance under uncertain missing-modality conditions. We release the code at: https://github.com/ZhuoYulang/IF-MMIN.
A Novel Approach for Neuromorphic Vision Data Compression based on Deep Belief Network
Venue: arXiv cs.CV 2022
Year: 2022

A neuromorphic camera is an image sensor that emulates the human eyes capturing only changes in local brightness levels. They are widely known as event cameras, silicon retinas or dynamic vision sensors (DVS). DVS records asynchronous per-pixel brightness changes, resulting in a stream of events that encode the brightness change's time, location, and polarity. DVS consumes little power and can capture a wider dynamic range with no motion blur and higher temporal resolution than conventional frame-based cameras. Although this method of event capture results in a lower bit rate than traditional video capture, it is further compressible. This paper proposes a novel deep learning-based compression scheme for event data. Using a deep belief network (DBN), the high dimensional event data is reduced into a latent representation and later encoded using an entropy-based coding technique. The proposed scheme is among the first to incorporate deep learning for event compression. It achieves a high compression ratio while maintaining good reconstruction quality outperforming state-of-the-art event data coders and other lossless benchmark techniques.
Explicit Intensity Control for Accented Text-to-speech
Venue: arXiv cs.SD 2022
Year: 2022

Accented text-to-speech (TTS) synthesis seeks to generate speech with an accent (L2) as a variant of the standard version (L1). How to control the intensity of accent in the process of TTS is a very interesting research direction, and has attracted more and more attention. Recent work design a speaker-adversarial loss to disentangle the speaker and accent information, and then adjust the loss weight to control the accent intensity. However, such a control method lacks interpretability, and there is no direct correlation between the controlling factor and natural accent intensity. To this end, this paper propose a new intuitive and explicit accent intensity control scheme for accented TTS. Specifically, we first extract the posterior probability, called as ``goodness of pronunciation (GoP)'' from the L1 speech recognition model to quantify the phoneme accent intensity for accented speech, then design a FastSpeech2 based TTS model, named Ai-TTS, to take the accent intensity expression into account during speech generation. Experiments show that the our method outperforms the baseline model in terms of accent rendering and intensity control.
Multi-view Representation Learning from Malware to Defend Against Adversarial Variants
Venue: arXiv cs.CR 2022
Year: 2022

Deep learning-based adversarial malware detectors have yielded promising results in detecting never-before-seen malware executables without relying on expensive dynamic behavior analysis and sandbox. Despite their abilities, these detectors have been shown to be vulnerable to adversarial malware variants - meticulously modified, functionality-preserving versions of original malware executables generated by machine learning. Due to the nature of these adversarial modifications, these adversarial methods often use a \textit{single view} of malware executables (i.e., the binary/hexadecimal view) to generate adversarial malware variants. This provides an opportunity for the defenders (i.e., malware detectors) to detect the adversarial variants by utilizing more than one view of a malware file (e.g., source code view in addition to the binary view). The rationale behind this idea is that while the adversary focuses on the binary view, certain characteristics of the malware file in the source code view remain untouched which leads to the detection of the adversarial malware variants. To capitalize on this opportunity, we propose Adversarially Robust Multiview Malware Defense (ARMD), a novel multi-view learning framework to improve the robustness of DL-based malware detectors against adversarial variants. Our experiments on three renowned open-source deep learning-based malware detectors across six common malware categories show that ARMD is able to improve the adversarial robustness by up to seven times on these malware detectors.
Many-Objective Reinforcement Learning for Online Testing of DNN-Enabled Systems
Venue: arXiv cs.LG 2022
Year: 2022

Deep Neural Networks (DNNs) have been widely used to perform real-world tasks in cyber-physical systems such as Autonomous Driving Systems (ADS). Ensuring the correct behavior of such DNN-Enabled Systems (DES) is a crucial topic. Online testing is one of the promising modes for testing such systems with their application environments (simulated or real) in a closed loop taking into account the continuous interaction between the systems and their environments. However, the environmental variables (e.g., lighting conditions) that might change during the systems' operation in the real world, causing the DES to violate requirements (safety, functional), are often kept constant during the execution of an online test scenario due to the two major challenges: (1) the space of all possible scenarios to explore would become even larger if they changed and (2) there are typically many requirements to test simultaneously. In this paper, we present MORLOT (Many-Objective Reinforcement Learning for Online Testing), a novel online testing approach to address these challenges by combining Reinforcement Learning (RL) and many-objective search. MORLOT leverages RL to incrementally generate sequences of environmental changes while relying on many-objective search to determine the changes so that they are more likely to achieve any of the uncovered objectives. We empirically evaluate MORLOT using CARLA, a high-fidelity simulator widely used for autonomous driving research, integrated with Transfuser, a DNN-enabled ADS for end-to-end driving. The evaluation results show that MORLOT is significantly more effective and efficient than alternatives with a large effect size. In other words, MORLOT is a good option to test DES with dynamically changing environments while accounting for multiple safety requirements.
Exploring Predictive Uncertainty and Calibration in NLP: A Study on the Impact of Method & Data Scarcity
Venue: arXiv cs.CL 2022
Year: 2022

We investigate the problem of determining the predictive confidence (or, conversely, uncertainty) of a neural classifier through the lens of low-resource languages. By training models on sub-sampled datasets in three different languages, we assess the quality of estimates from a wide array of approaches and their dependence on the amount of available data. We find that while approaches based on pre-trained models and ensembles achieve the best results overall, the quality of uncertainty estimates can surprisingly suffer with more data. We also perform a qualitative analysis of uncertainties on sequences, discovering that a model's total uncertainty seems to be influenced to a large degree by its data uncertainty, not model uncertainty. All model implementations are open-sourced in a software package.
Human-Likeness Indicator for Robot Posture Control and Balance
Venue: arXiv cs.RO 2022
Year: 2022

Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific performance indicator is proposed: the score is based on the comparison between the body sway of the tested humanoid standing on a moving surface and the sway produced by healthy subjects performing the same experiment. This approach is here oriented to the evaluation of a human-likeness. The measure is tested using a humanoid robot in order to demonstrate a typical usage of the proposed evaluation scheme and an example of how to improve robot control on the basis of such a performance indicator score
Fusion-based Few-Shot Morphing Attack Detection and Fingerprinting
Venue: arXiv cs.CV 2022
Year: 2022

The vulnerability of face recognition systems to morphing attacks has posed a serious security threat due to the wide adoption of face biometrics in the real world. Most existing morphing attack detection (MAD) methods require a large amount of training data and have only been tested on a few predefined attack models. The lack of good generalization properties, especially in view of the growing interest in developing novel morphing attacks, is a critical limitation with existing MAD research. To address this issue, we propose to extend MAD from supervised learning to few-shot learning and from binary detection to multiclass fingerprinting in this paper. Our technical contributions include: 1) We propose a fusion-based few-shot learning (FSL) method to learn discriminative features that can generalize to unseen morphing attack types from predefined presentation attacks; 2) The proposed FSL based on the fusion of the PRNU model and Noiseprint network is extended from binary MAD to multiclass morphing attack fingerprinting (MAF). 3) We have collected a large-scale database, which contains five face datasets and eight different morphing algorithms, to benchmark the proposed few-shot MAF (FS-MAF) method. Extensive experimental results show the outstanding performance of our fusion-based FS-MAF. The code and data will be publicly available at https://github.com/nz0001na/mad maf.