OpenRaiser/Intern-Atlas huggingface dataset:
If You Are Careful, So Am I! How Robot Communicative Motions Can Influence Human Approach in a Joint Task
Venue: arXiv cs.RO 2022
Year: 2022

As humans, we have a remarkable capacity for reading the characteristics of objects only by observing how another person carries them. Indeed, how we perform our actions naturally embeds information on the item features. Collaborative robots can achieve the same ability by modulating the strategy used to transport objects with their end-effector. A contribution in this sense would promote spontaneous interactions by making an implicit yet effective communication channel available. This work investigates if humans correctly perceive the implicit information shared by a robotic manipulator through its movements during a dyadic collaboration task. Exploiting a generative approach, we designed robot actions to convey virtual properties of the transported objects, particularly to inform the partner if any caution is required to handle the carried item. We found that carefulness is correctly interpreted when observed through the robot movements. In the experiment, we used identical empty plastic cups; nevertheless, participants approached them differently depending on the attitude shown by the robot: humans change how they reach for the object, being more careful whenever the robot does the same. This emerging form of motor contagion is entirely spontaneous and happens even if the task does not require it.
Different Tunes Played with Equal Skill: Exploring a Unified Optimization Subspace for Delta Tuning
Venue: arXiv cs.CL 2022
Year: 2022

Delta tuning (DET, also known as parameter-efficient tuning) is deemed as the new paradigm for using pre-trained language models (PLMs). Up to now, various DETs with distinct design elements have been proposed, achieving performance on par with fine-tuning. However, the mechanisms behind the above success are still under-explored, especially the connections among various DETs. To fathom the mystery, we hypothesize that the adaptations of different DETs could all be reparameterized as low-dimensional optimizations in a unified optimization subspace, which could be found by jointly decomposing independent solutions of different DETs. Then we explore the connections among different DETs by conducting optimization within the subspace. In experiments, we find that, for a certain DET, conducting optimization simply in the subspace could achieve comparable performance to its original space, and the found solution in the subspace could be transferred to another DET and achieve non-trivial performance. We also visualize the performance landscape of the subspace and find that there exists a substantial region where different DETs all perform well. Finally, we extend our analysis and show the strong connections between fine-tuning and DETs.
Planning Coordinated Human-Robot Motions with Neural Network Full-Body Prediction Models
Venue: arXiv cs.RO 2022
Year: 2022

Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the case because humans adapt their behavior to that of the robot, raising the need for intricate planning and prediction. In this paper, we propose a novel optimization-based motion planning algorithm, which generates robot motions, while simultaneously maximizing the human trajectory likelihood under a data-driven predictive model. Considering planning and prediction together allows us to formulate objective and constraint functions in the joint human-robot state space. Key to the approach are added latent space modifiers to a differentiable human predictive model based on a dedicated recurrent neural network. These modifiers allow to change the human prediction within motion optimization. We empirically evaluate our method using the publicly available MoGaze dataset. Our results indicate that the proposed framework outperforms current baselines for planning handover trajectories and avoiding collisions between a robot and a human. Our experiments demonstrate collaborative motion trajectories, where both, the human prediction and the robot plan, adapt to each other.
Augmenting Task-Oriented Dialogue Systems with Relation Extraction
Venue: arXiv cs.CL 2022
Year: 2022

The standard task-oriented dialogue pipeline uses intent classification and slot-filling to interpret user utterances. While this approach can handle a wide range of queries, it does not extract the information needed to handle more complex queries that contain relationships between slots. We propose integration of relation extraction into this pipeline as an effective way to expand the capabilities of dialogue systems. We evaluate our approach by using an internal dataset with slot and relation annotations spanning three domains. Finally, we show how slot-filling annotation schemes can be simplified once the expressive power of relation annotations is available, reducing the number of slots while still capturing the user's intended meaning.
A Novel Antenna Placement Algorithm for Compressive Sensing MIMO Radar
Venue: arXiv cs.IT 2022
Year: 2022

In colocated compressive sensing MIMO radar, the measurement matrix is specified by antenna placement. To guarantee an acceptable recovery performance, this measurement matrix should satisfy certain properties, e.g., a small coherence. Prior work in the literature often employs randomized placement algorithms which optimize the prior distribution of antenna locations. The performance of these algorithms is suboptimal, as they can be easily enhanced via expurgation. In this paper, we suggest an iterative antenna placement algorithm which determines the antenna locations deterministically. The proposed algorithm locates jointly the antenna elements on the transmit and receive arrays, such that the coherence of the resulting measurement matrix is minimized. Numerical simulations demonstrate that the proposed algorithm outperforms significantly the benchmark, even after expurgation.
Improved Bi-point Rounding Algorithms and a Golden Barrier for $k$-Median
Venue: arXiv cs.DS 2022
Year: 2022

The current best approximation algorithms for $k$-median rely on first obtaining a structured fractional solution known as a bi-point solution, and then rounding it to an integer solution. We improve this second step by unifying and refining previous approaches. We describe a hierarchy of increasingly-complex partitioning schemes for the facilities, along with corresponding sets of algorithms and factor-revealing non-linear programs. We prove that the third layer of this hierarchy is a $2.613$-approximation, improving upon the current best ratio of $2.675$, while no layer can be proved better than $2.588$ under the proposed analysis. On the negative side, we give a family of bi-point solutions which cannot be approximated better than the square root of the golden ratio, even if allowed to open $k+o(k)$ facilities. This gives a barrier to current approaches for obtaining an approximation better than $2 \sqrtϕ \approx 2.544$. Altogether we reduce the approximation gap of bi-point solutions by two thirds.
Twitter Users' Behavioral Response to Toxic Replies
Venue: arXiv cs.SI 2022
Year: 2022

Online toxic attacks, such as harassment, trolling, and hate speech have been linked to an increase in offline violence and negative psychological effects on victims. In this paper, we studied the impact of toxicity on users' online behavior. We collected a sample of 79.8k Twitter conversations. Then, through a longitudinal study, for nine weeks, we tracked and compared the behavioral reactions of authors, who were toxicity victims, with those who were not. We found that toxicity victims show a combination of the following behavioral reactions: avoidance, revenge, countermeasures, and negotiation. We performed statistical tests to understand the significance of the contribution of toxic replies toward user behaviors while considering confounding factors, such as the structure of conversations and the user accounts' visibility, identifiability, and activity level. Interestingly, we found that compared to other random authors, victims are more likely to engage in conversations, reply in a toxic way, and unfollow toxicity instigators. Even if the toxicity is directed at other participants, the root authors are more likely to engage in the conversations and reply in a toxic way. However, victims who have verified accounts are less likely to participate in conversations or respond by posting toxic comments. In addition, replies are more likely to be removed in conversations with a larger percentage of toxic nested replies and toxic replies directed at other users. Our results can assist further studies in developing more effective detection and intervention methods for reducing the negative consequences of toxicity on social media.
A Novel Block-Wise Index Modulation Scheme for High-Mobility OTFS Communications
Venue: arXiv cs.IT 2022
Year: 2022

As a promising technique for high-mobility wireless communications, orthogonal time frequency space (OTFS) has been proved to enjoy excellent advantages with respect to traditional orthogonal frequency division multiplexing (OFDM). However, a challenging problem is to design efficient systems to further improve the performance. In this paper, we propose a novel block-wise index modulation (IM) scheme for OTFS systems, named Doppler-IM with OTFS (DoIM-OTFS), where a block of Doppler resource bins are activated simultaneously. For practical implementation, we develop a low complexity customized message passing (CMP) algorithm for our proposed DoIM-OTFS scheme. Simulation results demonstrate our proposed DoIM-OTFS system outperforms traditional OTFS system without IM. The proposed CMP algorithm can achieve desired performance and robustness to the imperfect channel state information (CSI).
Adversarial Pretraining of Self-Supervised Deep Networks: Past, Present and Future
Venue: arXiv cs.LG 2022
Year: 2022

In this paper, we review adversarial pretraining of self-supervised deep networks including both convolutional neural networks and vision transformers. Unlike the adversarial training with access to labeled examples, adversarial pretraining is complicated as it only has access to unlabeled examples. To incorporate adversaries into pretraining models on either input or feature level, we find that existing approaches are largely categorized into two groups: memory-free instance-wise attacks imposing worst-case perturbations on individual examples, and memory-based adversaries shared across examples over iterations. In particular, we review several representative adversarial pretraining models based on Contrastive Learning (CL) and Masked Image Modeling (MIM), respectively, two popular self-supervised pretraining methods in literature. We also review miscellaneous issues about computing overheads, input-/feature-level adversaries, as well as other adversarial pretraining approaches beyond the above two groups. Finally, we discuss emerging trends and future directions about the relations between adversarial and cooperative pretraining, unifying adversarial CL and MIM pretraining, and the trade-off between accuracy and robustness in adversarial pretraining.
Classification of Misinformation in New Articles using Natural Language Processing and a Recurrent Neural Network
Venue: arXiv cs.CL 2022
Year: 2022

This paper seeks to address the classification of misinformation in news articles using a Long Short Term Memory Recurrent Neural Network. Articles were taken from 2018; a year that was filled with reporters writing about President Donald Trump, Special Counsel Robert Mueller, the Fifa World Cup, and Russia. The model presented successfully classifies these articles with an accuracy score of 0.779944. We consider this to be successful because the model was trained on articles that included languages other than English as well as incomplete, or fragmented, articles.
Speeding Up Question Answering Task of Language Models via Inverted Index
Venue: arXiv cs.CL 2022
Year: 2022

Natural language processing applications, such as conversational agents and their question-answering capabilities, are widely used in the real world. Despite the wide popularity of large language models (LLMs), few real-world conversational agents take advantage of LLMs. Extensive resources consumed by LLMs disable developers from integrating them into end-user applications. In this study, we leverage an inverted indexing mechanism combined with LLMs to improve the efficiency of question-answering models for closed-domain questions. Our experiments show that using the index improves the average response time by 97.44%. In addition, due to the reduced search scope, the average BLEU score improved by 0.23 while using the inverted index.
Budget-Constrained Bounds for Mini-Batch Estimation of Optimal Transport
Venue: arXiv cs.LG 2022
Year: 2022

Optimal Transport (OT) is a fundamental tool for comparing probability distributions, but its exact computation remains prohibitive for large datasets. In this work, we introduce novel families of upper and lower bounds for the OT problem constructed by aggregating solutions of mini-batch OT problems. The upper bound family contains traditional mini-batch averaging at one extreme and a tight bound found by optimal coupling of mini-batches at the other. In between these extremes, we propose various methods to construct bounds based on a fixed computational budget. Through various experiments, we explore the trade-off between computational budget and bound tightness and show the usefulness of these bounds in computer vision applications.
Depth Monocular Estimation with Attention-based Encoder-Decoder Network from Single Image
Venue: arXiv cs.CV 2022
Year: 2022

Depth information is the foundation of perception, essential for autonomous driving, robotics, and other source-constrained applications. Promptly obtaining accurate and efficient depth information allows for a rapid response in dynamic environments. Sensor-based methods using LIDAR and RADAR obtain high precision at the cost of high power consumption, price, and volume. While due to advances in deep learning, vision-based approaches have recently received much attention and can overcome these drawbacks. In this work, we explore an extreme scenario in vision-based settings: estimate a depth map from one monocular image severely plagued by grid artifacts and blurry edges. To address this scenario, We first design a convolutional attention mechanism block (CAMB) which consists of channel attention and spatial attention sequentially and insert these CAMBs into skip connections. As a result, our novel approach can find the focus of current image with minimal overhead and avoid losses of depth features. Next, by combining the depth value, the gradients of X axis, Y axis and diagonal directions, and the structural similarity index measure (SSIM), we propose our novel loss function. Moreover, we utilize pixel blocks to accelerate the computation of the loss function. Finally, we show, through comprehensive experiments on two large-scale image datasets, i.e. KITTI and NYU-V2, that our method outperforms several representative baselines.
AugCSE: Contrastive Sentence Embedding with Diverse Augmentations
Venue: arXiv cs.CL 2022
Year: 2022

Data augmentation techniques have been proven useful in many applications in NLP fields. Most augmentations are task-specific, and cannot be used as a general-purpose tool. In our work, we present AugCSE, a unified framework to utilize diverse sets of data augmentations to achieve a better, general purpose, sentence embedding model. Building upon the latest sentence embedding models, our approach uses a simple antagonistic discriminator that differentiates the augmentation types. With the finetuning objective borrowed from domain adaptation, we show that diverse augmentations, which often lead to conflicting contrastive signals, can be tamed to produce a better and more robust sentence representation. Our methods achieve state-of-the-art results on downstream transfer tasks and perform competitively on semantic textual similarity tasks, using only unsupervised data.
Aboveground carbon biomass estimate with Physics-informed deep network
Venue: arXiv cs.LG 2022
Year: 2022

The global carbon cycle is a key process to understand how our climate is changing. However, monitoring the dynamics is difficult because a high-resolution robust measurement of key state parameters including the aboveground carbon biomass (AGB) is required. Here, we use deep neural network to generate a wall-to-wall map of AGB within the Continental USA (CONUS) with 30-meter spatial resolution for the year 2021. We combine radar and optical hyperspectral imagery, with a physical climate parameter of SIF-based GPP. Validation results show that a masked variation of UNet has the lowest validation RMSE of 37.93 $\pm$ 1.36 Mg C/ha, as compared to 52.30 $\pm$ 0.03 Mg C/ha for random forest algorithm. Furthermore, models that learn from SIF-based GPP in addition to radar and optical imagery reduce validation RMSE by almost 10% and the standard deviation by 40%. Finally, we apply our model to measure losses in AGB from the recent 2021 Caldor wildfire in California, and validate our analysis with Sentinel-based burn index.
Workload Similarity Analysis using Machine Learning Techniques
Venue: arXiv cs.PF 2022
Year: 2022

Finding the similarity between two workload behaviors is helpful in 1. creating proxy workloads 2. characterizing an unknown workload's behavior by matching its behavior against known workloads. In this article, we propose a method to measure the similarity between two workloads using machine learning-based analysis of the performance telemetry data collected for the execution runs of the two workloads. We also demonstrate the accuracy of the technique by measuring the similarity between a variety of know benchmark workloads.
GlobalFlowNet: Video Stabilization using Deep Distilled Global Motion Estimates
Venue: arXiv cs.CV 2022
Year: 2022

Videos shot by laymen using hand-held cameras contain undesirable shaky motion. Estimating the global motion between successive frames, in a manner not influenced by moving objects, is central to many video stabilization techniques, but poses significant challenges. A large body of work uses 2D affine transformations or homography for the global motion. However, in this work, we introduce a more general representation scheme, which adapts any existing optical flow network to ignore the moving objects and obtain a spatially smooth approximation of the global motion between video frames. We achieve this by a knowledge distillation approach, where we first introduce a low pass filter module into the optical flow network to constrain the predicted optical flow to be spatially smooth. This becomes our student network, named as \textsc{GlobalFlowNet}. Then, using the original optical flow network as the teacher network, we train the student network using a robust loss function. Given a trained \textsc{GlobalFlowNet}, we stabilize videos using a two stage process. In the first stage, we correct the instability in affine parameters using a quadratic programming approach constrained by a user-specified cropping limit to control loss of field of view. In the second stage, we stabilize the video further by smoothing global motion parameters, expressed using a small number of discrete cosine transform coefficients. In extensive experiments on a variety of different videos, our technique outperforms state of the art techniques in terms of subjective quality and different quantitative measures of video stability. The source code is publicly available at \href{https://github.com/GlobalFlowNet/GlobalFlowNet}{https://github.com/GlobalFlowNet/GlobalFlowNet}
Towards Trustworthy Multi-label Sewer Defect Classification via Evidential Deep Learning
Venue: arXiv cs.CV 2022
Year: 2022

An automatic vision-based sewer inspection plays a key role of sewage system in a modern city. Recent advances focus on utilizing deep learning model to realize the sewer inspection system, benefiting from the capability of data-driven feature representation. However, the inherent uncertainty of sewer defects is ignored, resulting in the missed detection of serious unknown sewer defect categories. In this paper, we propose a trustworthy multi-label sewer defect classification (TMSDC) method, which can quantify the uncertainty of sewer defect prediction via evidential deep learning. Meanwhile, a novel expert base rate assignment (EBRA) is proposed to introduce the expert knowledge for describing reliable evidences in practical situations. Experimental results demonstrate the effectiveness of TMSDC and the superior capability of uncertainty estimation is achieved on the latest public benchmark.
MAROAM: Map-based Radar SLAM through Two-step Feature Selection
Venue: arXiv cs.RO 2022
Year: 2022

In this letter, we propose MAROAM, a millimeter wave radar-based SLAM framework, which employs a two-step feature selection process to build the global consistent map. Specifically, we first extract feature points from raw data based on their local geometric properties to filter out those points that violate the principle of millimeter-wave radar imaging. Then, we further employ another round of probabilistic feature selection by examining how often and how recent the feature point has been detected in the proceeding frames. With such a two-step feature selection, we establish a global consistent map for accurate and robust pose estimation as well as other downstream tasks. At last, we perform loop closure and graph optimization in the back-end, further reducing the accumulated drift error. We evaluate the performance of MAROAM on the three datasets: the Oxford Radar RobotCar Dataset, the MulRan Dataset and the Boreas Dataset. We consider a variety of experimental settings with different scenery, weather, and road conditions. The experimental results show that the accuracy of MAROAM is 7.95%, 37.0% and 8.9% higher than the currently best-performing algorithms on these three datasets, respectively. The ablation results also show that our map-based odometry performs 28.6% better than the commonly used scan-to-frames method. Finally, as devoted contributors to the open-source community, we will open source the algorithm after the paper is accepted.
Supporting Electronics Learning through Augmented Reality
Venue: arXiv cs.HC 2022
Year: 2022

Understanding electronics is a critical area in the maker scene. Many of the makers' projects require electronics knowledge to connect microcontrollers with sensors and actuators. Yet, learning electronics is challenging, as internal component processes remain invisible, and students often fear personal harm or component damage. Augmented Reality (AR) applications are developed to support electronics learning and visualize complex processes. This paper reflects on related work around AR and electronics that characterize open research challenges around the four characteristics functionality, fidelity, feedback type, and interactivity.