OpenRaiser/Intern-Atlas huggingface dataset:
Augmented Reality Appendages for Robots: Design Considerations and Recommendations for Maximizing Social and Functional Perception
Venue: arXiv cs.RO 2022
Year: 2022

In order to address the limitations of gestural capabilities in physical robots, researchers in Virtual, Augmented, Mixed Reality Human-Robot Interaction (VAM-HRI) have been using augmented-reality visualizations that increase robot expressivity and improve user perception (e.g., social presence). While a multitude of virtual robot deictic gestures (e.g., pointing to an object) have been implemented to improve interactions within VAM-HRI, such systems are often reported to have tradeoffs between functional and social user perceptions of robots, creating a need for a unified approach that considers both attributes. We performed a literature analysis that selected factors that were noted to significantly influence either user perception or task efficiency and propose a set of design considerations and recommendations that address those factors by combining anthropomorphic and non-anthropomorphic virtual gestures based on the motivation of the interaction, visibility of the target and robot, salience of the target, and distance between the target and robot. The proposed recommendations provide the VAM-HRI community with starting points for selecting appropriate gesture types for a multitude of interaction contexts.
A heuristic to determine the initial gravitational constant of the GSA
Venue: arXiv cs.NE 2022
Year: 2022

The Gravitational Search Algorithm (GSA) is an optimization algorithm based on Newton's laws of gravity and dynamics. Introduced in 2009, the GSA already has several versions and applications. However, its performance depends on the values of its parameters, which are determined empirically. Hence, its generality is compromised, because the parameters that are suitable for a particular application are not necessarily suitable for another. This paper proposes the Gravitational Search Algorithm with Normalized Gravitational Constant (GSA-NGC), which defines a new heuristic to determine the initial gravitational constant of the GSA. The new heuristic is grounded in the Brans-Dicke theory of gravitation and takes into consideration the multiple dimensions of the search space of the application. It aims to improve the final solution and reduce the number of iterations and premature convergences of the GSA. The GSA-NGC is validated experimentally, proving to be suitable for various applications and improving significantly the generality, performance, and efficiency of the GSA.
Optimized Partitioning and Priority Assignment of Real-Time Applications on Heterogeneous Platforms with Hardware Acceleration
Venue: arXiv cs.DC 2022
Year: 2022

Hardware accelerators, such as those based on GPUs and FPGAs, offer an excellent opportunity to efficiently parallelize functionalities. Recently, modern embedded platforms started being equipped with such accelerators, resulting in a compelling choice for emerging, highly computational intensive workloads, like those required by next-generation autonomous driving systems. Alongside the need for computational efficiency, such workloads are commonly characterized by real-time requirements, which need to be satisfied to guarantee the safe and correct behavior of the system. To this end, this paper proposes a holistic framework to help designers partition real-time applications on heterogeneous platforms with hardware accelerators. The proposed model is inspired by a realistic setup of an advanced driving assistance system presented in the WATERS 2019 Challenge by Bosch, further generalized to encompass a broader range of heterogeneous architectures. The resulting analysis is linearized and used to encode an optimization problem that jointly (i) guarantees timing constraints, (ii) finds a suitable task-to-core mapping, (iii) assigns a priority to each task, and (iv) selects which computations to accelerate, seeking for the most convenient trade-off between the smaller worst-case execution time provided by accelerators and synchronization and queuing delays.
Distributed Transmission Control for Wireless Networks using Multi-Agent Reinforcement Learning
Venue: arXiv cs.LG 2022
Year: 2022

We examine the problem of transmission control, i.e., when to transmit, in distributed wireless communications networks through the lens of multi-agent reinforcement learning. Most other works using reinforcement learning to control or schedule transmissions use some centralized control mechanism, whereas our approach is fully distributed. Each transmitter node is an independent reinforcement learning agent and does not have direct knowledge of the actions taken by other agents. We consider the case where only a subset of agents can successfully transmit at a time, so each agent must learn to act cooperatively with other agents. An agent may decide to transmit a certain number of steps into the future, but this decision is not communicated to the other agents, so it the task of the individual agents to attempt to transmit at appropriate times. We achieve this collaborative behavior through studying the effects of different actions spaces. We are agnostic to the physical layer, which makes our approach applicable to many types of networks. We submit that approaches similar to ours may be useful in other domains that use multi-agent reinforcement learning with independent agents.
Goal-Guided Neural Cellular Automata: Learning to Control Self-Organising Systems
Venue: arXiv cs.NE 2022
Year: 2022

Inspired by cellular growth and self-organization, Neural Cellular Automata (NCAs) have been capable of "growing" artificial cells into images, 3D structures, and even functional machines. NCAs are flexible and robust computational systems but -- similarly to many other self-organizing systems -- inherently uncontrollable during and after their growth process. We present an approach to control these type of systems called Goal-Guided Neural Cellular Automata (GoalNCA), which leverages goal encodings to control cell behavior dynamically at every step of cellular growth. This approach enables the NCA to continually change behavior, and in some cases, generalize its behavior to unseen scenarios. We also demonstrate the robustness of the NCA with its ability to preserve task performance, even when only a portion of cells receive goal information.
AI and Citizen Science for Serendipity
Venue: arXiv cs.HC 2022
Year: 2022

It has been argued that introducing AI to creative practices destroys spontaneity, intuition and serendipity. However, the design of systems that leverage complex interactions between citizen scientists (members of the public engaged in research tasks) and computational AI methods have the potential to facilitate creative exploration and chance encounters. Drawing from theories and literature about serendipity and computation, this article points to three interrelated aspects that support the emergence of serendipity in hybrid citizen science systems: the task environment; the characteristics of citizen scientists; and anomalies and errors.
Differentiable programming: Generalization, characterization and limitations of deep learning
Venue: arXiv cs.LG 2022
Year: 2022

In the past years, deep learning models have been successfully applied in several cognitive tasks. Originally inspired by neuroscience, these models are specific examples of differentiable programs. In this paper we define and motivate differentiable programming, as well as specify some program characteristics that allow us to incorporate the structure of the problem in a differentiable program. We analyze different types of differentiable programs, from more general to more specific, and evaluate, for a specific problem with a graph dataset, its structure and knowledge with several differentiable programs using those characteristics. Finally, we discuss some inherent limitations of deep learning and differentiable programs, which are key challenges in advancing artificial intelligence, and then analyze possible solutions
A Saliency-Guided Street View Image Inpainting Framework for Efficient Last-Meters Wayfinding
Venue: arXiv cs.CV 2022
Year: 2022

Global Positioning Systems (GPS) have played a crucial role in various navigation applications. Nevertheless, localizing the perfect destination within the last few meters remains an important but unresolved problem. Limited by the GPS positioning accuracy, navigation systems always show users a vicinity of a destination, but not its exact location. Street view images (SVI) in maps as an immersive media technology have served as an aid to provide the physical environment for human last-meters wayfinding. However, due to the large diversity of geographic context and acquisition conditions, the captured SVI always contains various distracting objects (e.g., pedestrians and vehicles), which will distract human visual attention from efficiently finding the destination in the last few meters. To address this problem, we highlight the importance of reducing visual distraction in image-based wayfinding by proposing a saliency-guided image inpainting framework. It aims at redirecting human visual attention from distracting objects to destination-related objects for more efficient and accurate wayfinding in the last meters. Specifically, a context-aware distracting object detection method driven by deep salient object detection has been designed to extract distracting objects from three semantic levels in SVI. Then we employ a large-mask inpainting method with fast Fourier convolutions to remove the detected distracting objects. Experimental results with both qualitative and quantitative analysis show that our saliency-guided inpainting method can not only achieve great perceptual quality in street view images but also redirect the human's visual attention to focus more on static location-related objects than distracting ones. The human-based evaluation also justified the effectiveness of our method in improving the efficiency of locating the target destination.
Auto-Select Reading Passages in English Assessment Tests?
Venue: arXiv cs.CL 2022
Year: 2022

We show a method to auto-select reading passages in English assessment tests and share some key insights that can be helpful in related fields. In specifics, we prove that finding a similar passage (to a passage that already appeared in the test) can give a suitable passage for test development. In the process, we create a simple database-tagger-filter algorithm and perform a human evaluation. However, 1. the textual features, that we analyzed, lack coverage, and 2. we fail to find meaningful correlations between each feature and suitability score. Lastly, we describe the future developments to improve automated reading passage selection.
On the Joint Optimization of Energy Harvesting and Sensing of Piezoelectric Energy Harvesters: Case Study of a Cable-Stayed Bridge
Venue: arXiv cs.CE 2022
Year: 2022

Piezoelectric Energy Harvesters (PEHs) are typically employed to provide additional source of energy for a sensing system. However, studies show that a PEH can be also used as a sensor to acquire information about the source of vibration by analysing the produced voltage signal. This opens a possibility to create Simultaneous Energy Harvesting and Sensing (SEHS) system, where a single piece of hardware, a PEH, acts as both, a harvester and as a sensor. This raises a question if it is possible to design a bi-functional PEH device with optimal harvesting and sensing performance. In this work, we propose a bi-objective PEH design optimisation framework and show that there is a trade-off between energy harvesting efficiency and sensing accuracy within a PEH design space. The proposed framework is based on an extensive vibration (strain and acceleration) dataset collected from a real-world operational cable-stayed bridge in New South Wales, Australia. The bridge acceleration data is used as an input for a PEH numerical model to simulate a voltage signal and estimate the amount of produced energy. The numerical PEH model is based on the Kirchhoff-Love plate and isogeometric analysis. For sensing, convolutional neural network AlexNet is trained to identify traffic speed labels from voltage CWT (Continuous Wavelet Transform) images. In order to improve computational efficiency of the approach, a kriging metamodel is built and genetic algorithm is used as an optimisation method. The results are presented in the form of Pareto fronts in three design spaces.
Generating Tips from Song Reviews: A New Dataset and Framework
Venue: arXiv cs.IR 2022
Year: 2022

Reviews of songs play an important role in online music service platforms. Prior research shows that users can make quicker and more informed decisions when presented with meaningful song reviews. However, reviews of music songs are generally long in length and most of them are non-informative for users. It is difficult for users to efficiently grasp meaningful messages for making decisions. To solve this problem, one practical strategy is to provide tips, i.e., short, concise, empathetic, and self-contained descriptions about songs. Tips are produced from song reviews and should express non-trivial insights about the songs. To the best of our knowledge, no prior studies have explored the tip generation task in music domain. In this paper, we create a dataset named MTips for the task and propose a framework named GENTMS for automatically generating tips from song reviews. The dataset involves 8,003 Chinese tips/non-tips from 128 songs which are distributed in five different song genres. Experimental results show that GENTMS achieves top-10 precision at 85.56%, outperforming the baseline models by at least 3.34%. Besides, to simulate the practical usage of our proposed framework, we also experiment with previously-unseen songs, during which GENTMS also achieves the best performance with top-10 precision at 78.89% on average. The results demonstrate the effectiveness of the proposed framework in tip generation of the music domain.
High Performance of Gradient Boosting in Binding Affinity Prediction
Venue: arXiv cs.LG 2022
Year: 2022

Prediction of protein-ligand (PL) binding affinity remains the key to drug discovery. Popular approaches in recent years involve graph neural networks (GNNs), which are used to learn the topology and geometry of PL complexes. However, GNNs are computationally heavy and have poor scalability to graph sizes. On the other hand, traditional machine learning (ML) approaches, such as gradient-boosted decision trees (GBDTs), are lightweight yet extremely efficient for tabular data. We propose to use PL interaction features along with PL graph-level features in GBDT. We show that this combination outperforms the existing solutions.
F1 Hand: A Versatile Fixed-Finger Gripper for Delicate Teleoperation and Autonomous Grasping
Venue: arXiv cs.RO 2022
Year: 2022

Teleoperation is often limited by the ability of an operator to react and predict the behavior of the robot as it interacts with the environment. For example, to grasp small objects on a table, the teleoperator needs to predict the position of the fingertips before the fingers are closed to avoid them hitting the table. For that reason, we developed the F1 hand, a single-motor gripper that facilitates teleoperation with the use of a fixed finger. The hand is capable of grasping objects as thin as a paper clip, and as heavy and large as a cordless drill. The applicability of the hand can be expanded by replacing the fixed finger with different shapes. This flexibility makes the hand highly versatile while being easy and cheap to develop. However, due to the atypical asymmetric structure and actuation of the hand usual grasping strategies no longer apply. Thus, we propose a controller that approximates actuation symmetry by using the motion of the whole arm. The F1 hand and its controller are compared side-by-side with the original Toyota Human Support Robot (HSR) gripper in teleoperation using 22 objects from the YCB dataset in addition to small objects. The grasping time and peak contact forces could be decreased by 20% and 70%, respectively while increasing success rates by 5%. Using an off-the-shelf grasp pose estimator for autonomous grasping, the system achieved similar success rates to the original HSR gripper, at the order of 80%.
The VoicePrivacy 2020 Challenge Evaluation Plan
Venue: arXiv cs.CL 2022
Year: 2022

The VoicePrivacy Challenge aims to promote the development of privacy preservation tools for speech technology by gathering a new community to define the tasks of interest and the evaluation methodology, and benchmarking solutions through a series of challenges. In this document, we formulate the voice anonymization task selected for the VoicePrivacy 2020 Challenge and describe the datasets used for system development and evaluation. We also present the attack models and the associated objective and subjective evaluation metrics. We introduce two anonymization baselines and report objective evaluation results.
Scientific Workflows in Heterogeneous Edge-Cloud Computing: A Data Placement Strategy Based on Reinforcement learning
Venue: arXiv cs.DC 2022
Year: 2022

The heterogeneous edge-cloud computing paradigm can provide an optimal solution to deploy scientific workflows compared to cloud computing or other traditional distributed computing environments. Owing to the different sizes of scientific datasets and the privacy issue concerning some of these datasets, it is essential to find a data placement strategy that can minimize data transmission time. Some state-of-the-art data placement strategies combine edge computing and cloud computing to distribute scientific datasets. However, the dynamic distribution of newly generated datasets to appropriate datacenters and exiting the spent datasets are still a challenge during workflows execution. To address this challenge, this study not only constructs a data placement model that includes shared datasets within individual and among multiple workflows across various geographical regions, but also proposes a data placement strategy (DYM-RL-DPS) based on algorithms of two stages. First, during the build-time stage of workflows, we use the discrete particle swarm optimization algorithm with differential evolution to pre-allocate initial datasets to proper datacenters. Then, we reformulate the dynamic datasets distribution problem as a Markov decision process and provide a reinforcement learning-based approach to learn the optimal strategy in the runtime stage of scientific workflows. Through simulating heterogeneous edge-cloud computing environments, we designed comprehensive experiments to demonstrate the superiority of DYM-RL-DPS. The results of our strategy can effectively reduce the data transmission time as compared to other strategies.
Sparsity-Aware Robust Normalized Subband Adaptive Filtering algorithms based on Alternating Optimization
Venue: arXiv cs.LG 2022
Year: 2022

This paper proposes a unified sparsity-aware robust normalized subband adaptive filtering (SA-RNSAF) algorithm for identification of sparse systems under impulsive noise. The proposed SA-RNSAF algorithm generalizes different algorithms by defining the robust criterion and sparsity-aware penalty. Furthermore, by alternating optimization of the parameters (AOP) of the algorithm, including the step-size and the sparsity penalty weight, we develop the AOP-SA-RNSAF algorithm, which not only exhibits fast convergence but also obtains low steady-state misadjustment for sparse systems. Simulations in various noise scenarios have verified that the proposed AOP-SA-RNSAF algorithm outperforms existing techniques.
Mask and Cloze: Automatic Open Cloze Question Generation using a Masked Language Model
Venue: arXiv cs.CY 2022
Year: 2022

Open cloze questions have been attracting attention for both measuring the ability and facilitating the learning of L2 English learners. In spite of its benefits, the open cloze test has been introduced only sporadically on the educational front, largely because it is burdensome for teachers to manually create the questions. Unlike the more commonly used multiple choice questions (MCQ), open cloze questions are in free form and thus teachers have to ensure that only a ground truth answer and no additional words will be accepted in the blank. To help ease this burden, we developed CLOZER, an automatic open cloze question generator. In this work, we evaluate CLOZER through quantitative experiments on 1,600 answers and show statistically that it can successfully generate open cloze questions that only accept the ground truth answer. A comparative experiment with human-generated questions also reveals that CLOZER can generate OCQs better than the average non-native English teacher. Additionally, we conduct a field study at a local high school to clarify the benefits and hurdles when introducing CLOZER. The results demonstrate that while students found the application useful for their language learning. Finally, on the basis of our findings, we proposed several design improvements.
Adaptive Prompt Learning-based Few-Shot Sentiment Analysis
Venue: arXiv cs.CL 2022
Year: 2022

In the field of natural language processing, sentiment analysis via deep learning has a excellent performance by using large labeled datasets. Meanwhile, labeled data are insufficient in many sentiment analysis, and obtaining these data is time-consuming and laborious. Prompt learning devotes to resolving the data deficiency by reformulating downstream tasks with the help of prompt. In this way, the appropriate prompt is very important for the performance of the model. This paper proposes an adaptive prompting(AP) construction strategy using seq2seq-attention structure to acquire the semantic information of the input sequence. Then dynamically construct adaptive prompt which can not only improve the quality of the prompt, but also can effectively generalize to other fields by pre-trained prompt which is constructed by existing public labeled data. The experimental results on FewCLUE datasets demonstrate that the proposed method AP can effectively construct appropriate adaptive prompt regardless of the quality of hand-crafted prompt and outperform the state-of-the-art baselines.
Topic Modelling on Consumer Financial Protection Bureau Data: An Approach Using BERT Based Embeddings
Venue: arXiv cs.LG 2022
Year: 2022

Customers' reviews and comments are important for businesses to understand users' sentiment about the products and services. However, this data needs to be analyzed to assess the sentiment associated with topics/aspects to provide efficient customer assistance. LDA and LSA fail to capture the semantic relationship and are not specific to any domain. In this study, we evaluate BERTopic, a novel method that generates topics using sentence embeddings on Consumer Financial Protection Bureau (CFPB) data. Our work shows that BERTopic is flexible and yet provides meaningful and diverse topics compared to LDA and LSA. Furthermore, domain-specific pre-trained embeddings (FinBERT) yield even better topics. We evaluated the topics on coherence score (c_v) and UMass.
TiBERT: Tibetan Pre-trained Language Model
Venue: arXiv cs.CL 2022
Year: 2022

The pre-trained language model is trained on large-scale unlabeled text and can achieve state-of-the-art results in many different downstream tasks. However, the current pre-trained language model is mainly concentrated in the Chinese and English fields. For low resource language such as Tibetan, there is lack of a monolingual pre-trained model. To promote the development of Tibetan natural language processing tasks, this paper collects the large-scale training data from Tibetan websites and constructs a vocabulary that can cover 99.95$\%$ of the words in the corpus by using Sentencepiece. Then, we train the Tibetan monolingual pre-trained language model named TiBERT on the data and vocabulary. Finally, we apply TiBERT to the downstream tasks of text classification and question generation, and compare it with classic models and multilingual pre-trained models, the experimental results show that TiBERT can achieve the best performance. Our model is published in http://tibert.cmli-nlp.com/