OpenRaiser/Intern-Atlas huggingface dataset:
Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects
Venue: arXiv cs.RO 2021
Year: 2021

The ability to grasp and manipulate transparent objects is a major challenge for robots. Existing depth cameras have difficulty detecting, localizing, and inferring the geometry of such objects. We propose using neural radiance fields (NeRF) to detect, localize, and infer the geometry of transparent objects with sufficient accuracy to find and grasp them securely. We leverage NeRF's view-independent learned density, place lights to increase specular reflections, and perform a transparency-aware depth-rendering that we feed into the Dex-Net grasp planner. We show how additional lights create specular reflections that improve the quality of the depth map, and test a setup for a robot workcell equipped with an array of cameras to perform transparent object manipulation. We also create synthetic and real datasets of transparent objects in real-world settings, including singulated objects, cluttered tables, and the top rack of a dishwasher. In each setting we show that NeRF and Dex-Net are able to reliably compute robust grasps on transparent objects, achieving 90% and 100% grasp success rates in physical experiments on an ABB YuMi, on objects where baseline methods fail.
Systematic definition and classification of data anomalies in DBMS (English Version)
Venue: arXiv cs.DB 2021
Year: 2021

There is no unified definition of Data anomalies, which refers to the specific data operation mode that may violate the consistency of the database. Known data anomalies include Dirty Write, Dirty Read, Non-repeatable Read, Phantom, Read Skew and Write Skew, etc. In order to improve the efficiency of concurrency control algorithms, data anomalies are also used to define the isolation levels, because the weak isolation level can improve the efficiency of transaction processing systems. This paper systematically studies the data anomalies and the corresponding isolation levels. We report twenty-two new data anomalies that other papers have not reported, and all data anomalies are classified miraculously. Based on the classification of data anomalies, two new isolation levels systems with different granularity are proposed, which reveals the rule of defining isolation levels based on data anomalies and makes the cognition of data anomalies and isolation levels more concise.
History Determinism vs. Good for Gameness in Quantitative Automata
Venue: arXiv cs.FL 2021
Year: 2021

Automata models between determinism and nondeterminism/alternations can retain some of the algorithmic properties of deterministic automata while enjoying some of the expressiveness and succinctness of nondeterminism. We study three closely related such models -- history determinism, good for gameness and determinisability by pruning -- on quantitative automata. While in the Boolean setting, history determinism and good for gameness coincide, we show that this is no longer the case in the quantitative setting: good for gameness is broader than history determinism, and coincides with a relaxed version of it, defined with respect to thresholds. We further identify criteria in which history determinism, which is generally broader than determinisability by pruning, coincides with it, which we then apply to typical quantitative automata types. As a key application of good for games and history deterministic automata is synthesis, we clarify the relationship between the two notions and various quantitative synthesis problems. We show that good-for-games automata are central for "global" (classical) synthesis, while "local" (good-enough) synthesis reduces to deciding whether a nondeterministic automaton is history deterministic.
A Subgame Perfect Equilibrium Reinforcement Learning Approach to Time-inconsistent Problems
Venue: arXiv cs.LG 2021
Year: 2021

In this paper, we establish a subgame perfect equilibrium reinforcement learning (SPERL) framework for time-inconsistent (TIC) problems. In the context of RL, TIC problems are known to face two main challenges: the non-existence of natural recursive relationships between value functions at different time points and the violation of Bellman's principle of optimality that raises questions on the applicability of standard policy iteration algorithms for unprovable policy improvement theorems. We adapt an extended dynamic programming theory and propose a new class of algorithms, called backward policy iteration (BPI), that solves SPERL and addresses both challenges. To demonstrate the practical usage of BPI as a training framework, we adapt standard RL simulation methods and derive two BPI-based training algorithms. We examine our derived training frameworks on a mean-variance portfolio selection problem and evaluate some performance metrics including convergence and model identifiability.
Unified Resource Allocation Framework for the Edge Intelligence-Enabled Metaverse
Venue: arXiv cs.GT 2021
Year: 2021

Dubbed as the next-generation Internet, the metaverse is a virtual world that allows users to interact with each other or objects in real-time using their avatars. The metaverse is envisioned to support novel ecosystems of service provision in an immersive environment brought about by an intersection of the virtual and physical worlds. The native AI systems in metaverse will personalized user experience over time and shape the experience in a scalable, seamless, and synchronous way. However, the metaverse is characterized by diverse resource types amid a highly dynamic demand environment. In this paper, we propose the case study of virtual education in the metaverse and address the unified resource allocation problem amid stochastic user demand. We propose a stochastic optimal resource allocation scheme (SORAS) based on stochastic integer programming with the objective of minimizing the cost of the virtual service provider. The simulation results show that SORAS can minimize the cost of the virtual service provider while accounting for the users' demands uncertainty.
Feature and Label Embedding Spaces Matter in Addressing Image Classifier Bias
Venue: arXiv cs.CV 2021
Year: 2021

This paper strives to address image classifier bias, with a focus on both feature and label embedding spaces. Previous works have shown that spurious correlations from protected attributes, such as age, gender, or skin tone, can cause adverse decisions. To balance potential harms, there is a growing need to identify and mitigate image classifier bias. First, we identify in the feature space a bias direction. We compute class prototypes of each protected attribute value for every class, and reveal an existing subspace that captures the maximum variance of the bias. Second, we mitigate biases by mapping image inputs to label embedding spaces. Each value of the protected attribute has its projection head where classes are embedded through a latent vector representation rather than a common one-hot encoding. Once trained, we further reduce in the feature space the bias effect by removing its direction. Evaluation on biased image datasets, for multi-class, multi-label and binary classifications, shows the effectiveness of tackling both feature and label embedding spaces in improving the fairness of the classifier predictions, while preserving classification performance.
Evaluating Robot Posture Control and Balance by Comparison to Human Subjects using Human Likeness Measures
Venue: arXiv cs.RO 2021
Year: 2021

Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the performance of humanoids. In this work, we describe and analyze a performance indicator based on the comparison between the body sway of a robot standing on a moving surface and the one of healthy subjects performing the same experiment. This approach is here oriented to the evaluation of human likeness. The measure is tested with three human-inspired humanoid posture control systems, the independent channel (IC), the disturbance identification and compensation (DEC), and the eigenmovement (EM) control. The potential and the limitations connected with such human-inspired humanoid control mechanisms are then discussed.
A Preliminary Case Study of Planning With Complex Transitions: Plotting
Venue: arXiv cs.AI 2021
Year: 2021

Plotting is a tile-matching puzzle video game published by Taito in 1989. Its objective is to reduce a given grid of coloured blocks down to a goal number or fewer. This is achieved by the avatar character repeatedly shooting the block it holds into the grid. Plotting is an example of a planning problem: given a model of the environment, a planning problem asks us to find a sequence of actions that can lead from an initial state of the environment to a given goal state while respecting some constraints. The key difficulty in modelling Plotting is in capturing the way the puzzle state changes after each shot. A single shot can affect multiple tiles directly, and the grid is affected by gravity so numerous other tiles can be affected indirectly. We present and evaluate a constraint model of the Plotting problem that captures this complexity. We also discuss the difficulties and inefficiencies of modelling Plotting in PDDL, the standard language used for input to specialised AI planners. We conclude by arguing that AI planning could benefit from a richer modelling language.
Accelerating Gradient-based Meta Learner
Venue: arXiv cs.LG 2021
Year: 2021

Meta Learning has been in focus in recent years due to the meta-learner model's ability to adapt well and generalize to new tasks, thus, reducing both the time and data requirements for learning. However, a major drawback of meta learner is that, to reach to a state from where learning new tasks becomes feasible with less data, it requires a large number of iterations and a lot of time. We address this issue by proposing various acceleration techniques to speed up meta learning algorithms such as MAML (Model Agnostic Meta Learning). We present 3.73X acceleration on a well known RNN optimizer based meta learner proposed in literature [11]. We introduce a novel method of training tasks in clusters, which not only accelerates the meta learning process but also improves model accuracy performance. Keywords: Meta learning, RNN optimizer, AGI, Performance optimization
Deep Transfer Learning for Multi-source Entity Linkage via Domain Adaptation
Venue: arXiv cs.LG 2021
Year: 2021

Multi-source entity linkage focuses on integrating knowledge from multiple sources by linking the records that represent the same real world entity. This is critical in high-impact applications such as data cleaning and user stitching. The state-of-the-art entity linkage pipelines mainly depend on supervised learning that requires abundant amounts of training data. However, collecting well-labeled training data becomes expensive when the data from many sources arrives incrementally over time. Moreover, the trained models can easily overfit to specific data sources, and thus fail to generalize to new sources due to significant differences in data and label distributions. To address these challenges, we present AdaMEL, a deep transfer learning framework that learns generic high-level knowledge to perform multi-source entity linkage. AdaMEL models the attribute importance that is used to match entities through an attribute-level self-attention mechanism, and leverages the massive unlabeled data from new data sources through domain adaptation to make it generic and data-source agnostic. In addition, AdaMEL is capable of incorporating an additional set of labeled data to more accurately integrate data sources with different attribute importance. Extensive experiments show that our framework achieves state-of-the-art results with 8.21% improvement on average over methods based on supervised learning. Besides, it is more stable in handling different sets of data sources in less runtime.
Fuzzy Generative Adversarial Networks
Venue: arXiv cs.LG 2021
Year: 2021

Generative Adversarial Networks (GANs) are well-known tools for data generation and semi-supervised classification. GANs, with less labeled data, outperform Deep Neural Networks (DNNs) and Convolutional Neural Networks (CNNs) in classification across various tasks, this shows promise for developing GANs capable of trespassing into the domain of semi-supervised regression. However, developing GANs for regression introduce two major challenges: (1) inherent instability in the GAN formulation and (2) performing regression and achieving stability simultaneously. This paper introduces techniques that show improvement in the GANs' regression capability through mean absolute error (MAE) and mean squared error (MSE). We bake a differentiable fuzzy logic system at multiple locations in a GAN because fuzzy logic systems have demonstrated high efficacy in classification and regression settings. The fuzzy logic takes the output of either or both the generator and the discriminator to either or both predict the output, $y$, and evaluate the generator's performance. We outline the results of applying the fuzzy logic system to CGAN and summarize each approach's efficacy. This paper shows that adding a fuzzy logic layer can enhance GAN's ability to perform regression; the most desirable injection location is problem-specific, and we show this through experiments over various datasets. Besides, we demonstrate empirically that the fuzzy-infused GAN is competitive with DNNs.
International Workshop on Continual Semi-Supervised Learning: Introduction, Benchmarks and Baselines
Venue: arXiv cs.CV 2021
Year: 2021

The aim of this paper is to formalize a new continual semi-supervised learning (CSSL) paradigm, proposed to the attention of the machine learning community via the IJCAI 2021 International Workshop on Continual Semi-Supervised Learning (CSSL-IJCAI), with the aim of raising field awareness about this problem and mobilizing its effort in this direction. After a formal definition of continual semi-supervised learning and the appropriate training and testing protocols, the paper introduces two new benchmarks specifically designed to assess CSSL on two important computer vision tasks: activity recognition and crowd counting. We describe the Continual Activity Recognition (CAR) and Continual Crowd Counting (CCC) challenges built upon those benchmarks, the baseline models proposed for the challenges, and describe a simple CSSL baseline which consists in applying batch self-training in temporal sessions, for a limited number of rounds. The results show that learning from unlabelled data streams is extremely challenging, and stimulate the search for methods that can encode the dynamics of the data stream.
The Importance of Open Data Policy to Tackle Pandemic in Latin America
Venue: arXiv cs.CY 2021
Year: 2021

Open Data Policies can provide transparency, impulse innovation and citizenship participation. Access to the right data in right time can produce huge benefits to population. But, in Latin America there is not enough interest from governments to promote and use properly. By the other hand, global pandemic has caused many damages in different levels, i.e. Economy, Public Health, Education, etc. The paper opens a discussion about the importance of Open Data Policy to mitigate the impact of Covid-19 and overpass this problem.
Anomaly-Injected Deep Support Vector Data Description for Text Outlier Detection
Venue: arXiv cs.CL 2021
Year: 2021

Anomaly detection or outlier detection is a common task in various domains, which has attracted significant research efforts in recent years. Existing works mainly focus on structured data such as numerical or categorical data; however, anomaly detection on unstructured textual data is less attended. In this work, we target the textual anomaly detection problem and propose a deep anomaly-injected support vector data description (AI-SVDD) framework. AI-SVDD not only learns a more compact representation of the data hypersphere but also adopts a small number of known anomalies to increase the discriminative power. To tackle text input, we employ a multilayer perceptron (MLP) network in conjunction with BERT to obtain enriched text representations. We conduct experiments on three text anomaly detection applications with multiple datasets. Experimental results show that the proposed AI-SVDD is promising and outperforms existing works.
An Autonomous Probing System for Collecting Measurements at Depth from Small Surface Vehicles
Venue: arXiv cs.RO 2021
Year: 2021

This paper presents the portable autonomous probing system (APS), a low-cost robotic design for collecting water quality measurements at targeted depths from an autonomous surface vehicle (ASV). This system fills an important but often overlooked niche in marine sampling by enabling mobile sensor observations throughout the near-surface water column without the need for advanced underwater equipment. We present a probe delivery mechanism built with commercially available components and describe the corresponding open-source simulator and winch controller. Finally, we demonstrate the system in a field deployment and discuss design trade-offs and areas for future improvement. Project details are available on https://johannah.github.io/publication/sample-at-depth our website
SiamPolar: Semi-supervised Realtime Video Object Segmentation with Polar Representation
Venue: arXiv cs.CV 2021
Year: 2021

Video object segmentation (VOS) is an essential part of autonomous vehicle navigation. The real-time speed is very important for the autonomous vehicle algorithms along with the accuracy metric. In this paper, we propose a semi-supervised real-time method based on the Siamese network using a new polar representation. The input of bounding boxes is initialized rather than the object masks, which are applied to the video object detection tasks. The polar representation could reduce the parameters for encoding masks with subtle accuracy loss so that the algorithm speed can be improved significantly. An asymmetric siamese network is also developed to extract the features from different spatial scales. Moreover, the peeling convolution is proposed to reduce the antagonism among the branches of the polar head. The repeated cross-correlation and semi-FPN are designed based on this idea. The experimental results on the DAVIS-2016 dataset and other public datasets demonstrate the effectiveness of the proposed method.
Differentiable NAS Framework and Application to Ads CTR Prediction
Venue: arXiv cs.LG 2021
Year: 2021

Neural architecture search (NAS) methods aim to automatically find the optimal deep neural network (DNN) architecture as measured by a given objective function, typically some combination of task accuracy and inference efficiency. For many areas, such as computer vision and natural language processing, this is a critical, yet still time consuming process. New NAS methods have recently made progress in improving the efficiency of this process. We implement an extensible and modular framework for Differentiable Neural Architecture Search (DNAS) to help solve this problem. We include an overview of the major components of our codebase and how they interact, as well as a section on implementing extensions to it (including a sample), in order to help users adopt our framework for their applications across different categories of deep learning models. To assess the capabilities of our methodology and implementation, we apply DNAS to the problem of ads click-through rate (CTR) prediction, arguably the highest-value and most worked on AI problem at hyperscalers today. We develop and tailor novel search spaces to a Deep Learning Recommendation Model (DLRM) backbone for CTR prediction, and report state-of-the-art results on the Criteo Kaggle CTR prediction dataset.
Stable Anderson Acceleration for Deep Learning
Venue: arXiv cs.LG 2021
Year: 2021

Anderson acceleration (AA) is an extrapolation technique designed to speed-up fixed-point iterations like those arising from the iterative training of DL models. Training DL models requires large datasets processed in randomly sampled batches that tend to introduce in the fixed-point iteration stochastic oscillations of amplitude roughly inversely proportional to the size of the batch. These oscillations reduce and occasionally eliminate the positive effect of AA. To restore AA's advantage, we combine it with an adaptive moving average procedure that smoothes the oscillations and results in a more regular sequence of gradient descent updates. By monitoring the relative standard deviation between consecutive iterations, we also introduce a criterion to automatically assess whether the moving average is needed. We applied the method to the following DL instantiations: (i) multi-layer perceptrons (MLPs) trained on the open-source graduate admissions dataset for regression, (ii) physics informed neural networks (PINNs) trained on source data to solve 2d and 100d Burgers' partial differential equations (PDEs), and (iii) ResNet50 trained on the open-source ImageNet1k dataset for image classification. Numerical results obtained using up to 1,536 NVIDIA V100 GPUs on the OLCF supercomputer Summit showed the stabilizing effect of the moving average on AA for all the problems above.
NetDAM: Network Direct Attached Memory with Programmable In-Memory Computing ISA
Venue: arXiv cs.DC 2021
Year: 2021

Data-intensive applications like distributed AI-training may require multi-terabytes memory capacity with multi-terabits bandwidth. We directly attach the memory to the ethernet controller with some programable logic to design an efficient hardware "template" for Memory pooling and in-memory / in-network computing. We built an FPGA prototype of the NetDAM, andwe demonstrate MPI-Allreduce communication case, the NetDAM can be used as a software and hardware friendly programmable architeture with high performance alternative for RDMA.
Exact Analytical Model of Age of Information in Multi-source Status Update Systems with Per-source Queueing
Venue: arXiv cs.IT 2021
Year: 2021

We consider an information update system consisting of $N$ sources sending status packets at random instances according to a Poisson process to a remote monitor through a single server. We assume a heteregeneous server with exponentially distributed service times which is equipped with a waiting room holding the freshest packet from each source referred to as Single Buffer Per-Source Queueing (SBPSQ). The sources are assumed to be equally important, i.e., non-weighted average AoI is used as the information freshness metric, and subsequently two symmetric scheduling policies are studied in this paper, namely First Source First Serve (FSFS) and the Earliest Served First Serve (ESFS) policies, the latter policy being proposed the first time in the current paper to the best of our knowledge. By employing the theory of Markov Fluid Queues (MFQ), an analytical model is proposed to obtain the exact distribution of the Age of Information (AoI) for each source when the FSFS and ESFS policies are employed at the server. Subsequently, a benchmark scheduling-free scheme named as Single Buffer with Replacement (SBR) that uses a single one-packet buffer shared by all sources is also studied with a similar but less complex analytical model. We comparatively study the performance of the three schemes through numerical examples and show that the proposed ESFS policy outperforms the other two schemes in terms of the average AoI and the age violation probability averaged across all sources, in a scenario of sources possessing different traffic intensities but sharing a common service time.