OpenRaiser/Intern-Atlas huggingface dataset:
Adaptive Control for Robotic Manipulation of Deformable Linear Objects with Offline and Online Learning of Unknown Models
Venue: arXiv cs.RO 2021
Year: 2021

The deformable linear objects (DLOs) are common in both industrial and domestic applications, such as wires, cables, ropes. Because of its highly deformable nature, it is difficult for the robot to reproduce human's dexterous skills on DLOs. In this paper, the unknown deformation model is estimated in both the offline and online manners. The offline learning aims to provide a good approximation prior to the manipulation task, while the online learning aims to compensate the errors due to insufficient training (e.g. limited datasets) in the offline phase. The offline module works by constructing a series of supervised neural networks (NNs), then the online module receives the learning results directly and further updates them with the technique of adaptive NNs. A new adaptive controller is also proposed to allow the robot to perform manipulation tasks concurrently in the online phase. The stability of the closed-loop system and the convergence of task errors are rigorously proved with Lyapunov method. Simulation studies are presented to illustrate the performance of the proposed method.
Identifying the Prevalence of Gender Biases among the Computing Organizations
Venue: arXiv cs.SE 2021
Year: 2021

We have designed an online survey to understand the status quo of four dimensions of gender biases among the contemporary computing organizations. Our preliminary results found almost one-third of the respondents have reported first-hand experiences of encountering gender biases at their jobs.
Secretive Coded Caching with Shared Caches
Venue: arXiv cs.IT 2021
Year: 2021

We consider the problem of \emph{secretive coded caching} in a shared cache setup where the number of users accessing a particular \emph{helper cache} is more than one, and every user can access exactly one helper cache. In secretive coded caching, the constraint of \emph{perfect secrecy} must be satisfied. It requires that the users should not gain, either from their caches or from the transmissions, any information about the content of the files that they did not request from the server. In order to accommodate the secrecy constraint, our problem setup requires, in addition to a helper cache, a dedicated \emph{user cache} of minimum capacity of 1 unit to every user. This is where our formulation differs from the original work on shared caches (``Fundamental Limits of Coded Caching With Multiple Antennas, Shared Caches and Uncoded Prefetching'' by E.~Parrinello, A.~{Ü}nsal and P.~Elia in Trans. Inf. Theory, 2020). In this work, we propose a secretively achievable coded caching scheme with shared caches under centralized placement. When our scheme is applied to the dedicated cache setting, it matches the scheme by Ravindrakumar \emph{et al.} (``Private Coded Caching'', in Trans. Inf. Forensics and Security, 2018).
MHER: Model-based Hindsight Experience Replay
Venue: arXiv cs.LG 2021
Year: 2021

Solving multi-goal reinforcement learning (RL) problems with sparse rewards is generally challenging. Existing approaches have utilized goal relabeling on collected experiences to alleviate issues raised from sparse rewards. However, these methods are still limited in efficiency and cannot make full use of experiences. In this paper, we propose Model-based Hindsight Experience Replay (MHER), which exploits experiences more efficiently by leveraging environmental dynamics to generate virtual achieved goals. Replacing original goals with virtual goals generated from interaction with a trained dynamics model leads to a novel relabeling method, model-based relabeling (MBR). Based on MBR, MHER performs both reinforcement learning and supervised learning for efficient policy improvement. Theoretically, we also prove the supervised part in MHER, i.e., goal-conditioned supervised learning with MBR data, optimizes a lower bound on the multi-goal RL objective. Experimental results in several point-based tasks and simulated robotics environments show that MHER achieves significantly higher sample efficiency than previous model-free and model-based multi-goal methods.
End-to-end Compression Towards Machine Vision: Network Architecture Design and Optimization
Venue: arXiv cs.CV 2021
Year: 2021

The visual signal compression is a long-standing problem. Fueled by the recent advances of deep learning, exciting progress has been made. Despite better compression performance, existing end-to-end compression algorithms are still designed towards better signal quality in terms of rate-distortion optimization. In this paper, we show that the design and optimization of network architecture could be further improved for compression towards machine vision. We propose an inverted bottleneck structure for the encoder of the end-to-end compression towards machine vision, which specifically accounts for efficient representation of the semantic information. Moreover, we quest the capability of optimization by incorporating the analytics accuracy into the optimization process, and the optimality is further explored with generalized rate-accuracy optimization in an iterative manner. We use object detection as a showcase for end-to-end compression towards machine vision, and extensive experiments show that the proposed scheme achieves significant BD-rate savings in terms of analysis performance. Moreover, the promise of the scheme is also demonstrated with strong generalization capability towards other machine vision tasks, due to the enabling of signal-level reconstruction.
Drone swarm patrolling with uneven coverage requirements
Venue: arXiv cs.CV 2021
Year: 2021

Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the deployment of a swarm of multiple drones requires proper algorithms for automatic task-oriented control. In this paper, we focus on visual coverage optimization with drone-mounted camera sensors. In particular, we consider the specific case in which the coverage requirements are uneven, meaning that different parts of the environment have different coverage priorities. We model these coverage requirements with relevance maps and propose a deep reinforcement learning algorithm to guide the swarm. The paper first defines a proper learning model for a single drone, and then extends it to the case of multiple drones both with greedy and cooperative strategies. Experimental results show the performance of the proposed method, also compared with a standard patrolling algorithm.
VREUD -- An End-User Development Tool to Simplify the Creation of Interactive VR Scenes
Venue: arXiv cs.HC 2021
Year: 2021

Recent advances in Virtual Reality (VR) technology and the increased availability of VR-equipped devices enable a wide range of consumer-oriented applications. For novice developers, however, creating interactive scenes for VR applications is a complex and cumbersome task that requires high technical knowledge which is often missing. This hinders the potential of enabling novices to create, modify, and execute their own interactive VR scenes. Although recent authoring tools for interactive VR scenes are promising, most of them focus on expert professionals as the target group and neglect the novices with low programming knowledge. To lower the entry barrier, we provide an open-source web-based End-User Development (EUD) tool, called VREUD, that supports the rapid construction and execution of interactive VR scenes. Concerning construction, VREUD enables the specification of the VR scene including interactions and tasks. Furthermore, VREUD supports the execution and immersive experience of the created interactive VR scenes on VR head-mounted displays. Based on a user study, we have analyzed the effectiveness, efficiency, and user satisfaction of VREUD which shows promising results to empower novices in creating their interactive VR scenes.
GlyphCRM: Bidirectional Encoder Representation for Chinese Character with its Glyph
Venue: arXiv cs.AI 2021
Year: 2021

Previous works indicate that the glyph of Chinese characters contains rich semantic information and has the potential to enhance the representation of Chinese characters. The typical method to utilize the glyph features is by incorporating them into the character embedding space. Inspired by previous methods, we innovatively propose a Chinese pre-trained representation model named as GlyphCRM, which abandons the ID-based character embedding method yet solely based on sequential character images. We render each character into a binary grayscale image and design two-channel position feature maps for it. Formally, we first design a two-layer residual convolutional neural network, namely HanGlyph to generate the initial glyph representation of Chinese characters, and subsequently adopt multiple bidirectional encoder Transformer blocks as the superstructure to capture the context-sensitive information. Meanwhile, we feed the glyph features extracted from each layer of the HanGlyph module into the underlying Transformer blocks by skip-connection method to fully exploit the glyph features of Chinese characters. As the HanGlyph module can obtain a sufficient glyph representation of any Chinese character, the long-standing out-of-vocabulary problem could be effectively solved. Extensive experimental results indicate that GlyphCRM substantially outperforms the previous BERT-based state-of-the-art model on 9 fine-tuning tasks, and it has strong transferability and generalization on specialized fields and low-resource tasks. We hope this work could spark further research beyond the realms of well-established representation of Chinese texts.
MultiCite: Modeling realistic citations requires moving beyond the single-sentence single-label setting
Venue: arXiv cs.CL 2021
Year: 2021

Citation context analysis (CCA) is an important task in natural language processing that studies how and why scholars discuss each others' work. Despite decades of study, traditional frameworks for CCA have largely relied on overly-simplistic assumptions of how authors cite, which ignore several important phenomena. For instance, scholarly papers often contain rich discussions of cited work that span multiple sentences and express multiple intents concurrently. Yet, CCA is typically approached as a single-sentence, single-label classification task, and thus existing datasets fail to capture this interesting discourse. In our work, we address this research gap by proposing a novel framework for CCA as a document-level context extraction and labeling task. We release MultiCite, a new dataset of 12,653 citation contexts from over 1,200 computational linguistics papers. Not only is it the largest collection of expert-annotated citation contexts to-date, MultiCite contains multi-sentence, multi-label citation contexts within full paper texts. Finally, we demonstrate how our dataset, while still usable for training classic CCA models, also supports the development of new types of models for CCA beyond fixed-width text classification. We release our code and dataset at https://github.com/allenai/multicite.
Generating Synthetic Training Data for Deep Learning-Based UAV Trajectory Prediction
Venue: arXiv cs.CV 2021
Year: 2021

Deep learning-based models, such as recurrent neural networks (RNNs), have been applied to various sequence learning tasks with great success. Following this, these models are increasingly replacing classic approaches in object tracking applications for motion prediction. On the one hand, these models can capture complex object dynamics with less modeling required, but on the other hand, they depend on a large amount of training data for parameter tuning. Towards this end, we present an approach for generating synthetic trajectory data of unmanned-aerial-vehicles (UAVs) in image space. Since UAVs, or rather quadrotors are dynamical systems, they can not follow arbitrary trajectories. With the prerequisite that UAV trajectories fulfill a smoothness criterion corresponding to a minimal change of higher-order motion, methods for planning aggressive quadrotors flights can be utilized to generate optimal trajectories through a sequence of 3D waypoints. By projecting these maneuver trajectories, which are suitable for controlling quadrotors, to image space, a versatile trajectory data set is realized. To demonstrate the applicability of the synthetic trajectory data, we show that an RNN-based prediction model solely trained on the generated data can outperform classic reference models on a real-world UAV tracking dataset. The evaluation is done on the publicly available ANTI-UAV dataset.
Test Framework for a Virtual Competition Testbed
Venue: arXiv cs.RO 2021
Year: 2021

Virtual environments have been utilised in robotics research as a tool to assess systems before deploying them in the field. The COVID-19 pandemic has brought about additional motivation for the development of virtual benchmarks in order to aid in safe and productive development. In-person robotics competitions have also halted, thus limiting the scope of opportunities for students and researchers. We implemented the structure of a service robotics competition into an extendable and adaptable virtual scoring environment. The competition challenges the state of the art in home service robotics by presenting realistic household tasks for robots to complete. The virtual environment provides a foundation for competition teams to assess their systems when accessing the physical environment is not possible. We believe that utilising virtual environments as a means of assessment will lead to other benefits such as increased access and generalisation.
VeriDL: Integrity Verification of Outsourced Deep Learning Services (Extended Version)
Venue: arXiv cs.CR 2021
Year: 2021

Deep neural networks (DNNs) are prominent due to their superior performance in many fields. The deep-learning-as-a-service (DLaaS) paradigm enables individuals and organizations (clients) to outsource their DNN learning tasks to the cloud-based platforms. However, the DLaaS server may return incorrect DNN models due to various reasons (e.g., Byzantine failures). This raises the serious concern of how to verify if the DNN models trained by potentially untrusted DLaaS servers are indeed correct. To address this concern, in this paper, we design VeriDL, a framework that supports efficient correctness verification of DNN models in the DLaaS paradigm. The key idea of VeriDL is the design of a small-size cryptographic proof of the training process of the DNN model, which is associated with the model and returned to the client. Through the proof, VeriDL can verify the correctness of the DNN model returned by the DLaaS server with a deterministic guarantee and cheap overhead. Our experiments on four real-world datasets demonstrate the efficiency and effectiveness of VeriDL.
Visualising Argumentation Graphs with Graph Embeddings and t-SNE
Venue: arXiv cs.AI 2021
Year: 2021

This paper applies t-SNE, a visualisation technique familiar from Deep Neural Network research to argumentation graphs by applying it to the output of graph embeddings generated using several different methods. It shows that such a visualisation approach can work for argumentation and show interesting structural properties of argumentation graphs, opening up paths for further research in the area.
Towards a fairer reimbursement system for burn patients using cost-sensitive classification
Venue: arXiv cs.CY 2021
Year: 2021

The adoption of the Prospective Payment System (PPS) in the UK National Health Service (NHS) has led to the creation of patient groups called Health Resource Groups (HRG). HRGs aim to identify groups of clinically similar patients that share similar resource usage for reimbursement purposes. These groups are predominantly identified based on expert advice, with homogeneity checked using the length of stay (LOS). However, for complex patients such as those encountered in burn care, LOS is not a perfect proxy of resource usage, leading to incomplete homogeneity checks. To improve homogeneity in resource usage and severity, we propose a data-driven model and the inclusion of patient-level costing. We investigate whether a data-driven approach that considers additional measures of resource usage can lead to a more comprehensive model. In particular, a cost-sensitive decision tree model is adopted to identify features of importance and rules that allow for a focused segmentation on resource usage (LOS and patient-level cost) and clinical similarity (severity of burn). The proposed approach identified groups with increased homogeneity compared to the current HRG groups, allowing for a more equitable reimbursement of hospital care costs if adopted.
Data-Enhanced Process Models in Process Mining
Venue: arXiv cs.OH 2021
Year: 2021

Understanding and improving business processes have become important success factors for organizations. Process mining has proven very successful with a variety of methods and techniques, including discovering process models based on event logs. Process mining has traditionally focussed on control flow and timing aspects. However, getting insights about a process is not only based on activities and their orderings, but also on the data generated and manipulated during process executions. Today, almost every process activity generates data; these data do not play the role in process mining that it deserves. This paper introduces a visualization technique for enhancing discovered process models with domain data, thereby allowing data-based exploration of processes. Data-enhanced process models aim at supporting domain experts to explore the process, where they can select attributes of interest and observe their influence on the process. The visualization technique is illustrated by the MIMIC-IV real-world data set on hospitalizations in the US.
Inter Extreme Points Geodesics for End-to-End Weakly Supervised Image Segmentation
Venue: arXiv cs.CV 2021
Year: 2021

We introduce $\textit{InExtremIS}$, a weakly supervised 3D approach to train a deep image segmentation network using particularly weak train-time annotations: only 6 extreme clicks at the boundary of the objects of interest. Our fully-automatic method is trained end-to-end and does not require any test-time annotations. From the extreme points, 3D bounding boxes are extracted around objects of interest. Then, deep geodesics connecting extreme points are generated to increase the amount of "annotated" voxels within the bounding boxes. Finally, a weakly supervised regularised loss derived from a Conditional Random Field formulation is used to encourage prediction consistency over homogeneous regions. Extensive experiments are performed on a large open dataset for Vestibular Schwannoma segmentation. $\textit{InExtremIS}$ obtained competitive performance, approaching full supervision and outperforming significantly other weakly supervised techniques based on bounding boxes. Moreover, given a fixed annotation time budget, $\textit{InExtremIS}$ outperforms full supervision. Our code and data are available online.
Offline-to-Online Reinforcement Learning via Balanced Replay and Pessimistic Q-Ensemble
Venue: arXiv cs.RO 2021
Year: 2021

Recent advance in deep offline reinforcement learning (RL) has made it possible to train strong robotic agents from offline datasets. However, depending on the quality of the trained agents and the application being considered, it is often desirable to fine-tune such agents via further online interactions. In this paper, we observe that state-action distribution shift may lead to severe bootstrap error during fine-tuning, which destroys the good initial policy obtained via offline RL. To address this issue, we first propose a balanced replay scheme that prioritizes samples encountered online while also encouraging the use of near-on-policy samples from the offline dataset. Furthermore, we leverage multiple Q-functions trained pessimistically offline, thereby preventing overoptimism concerning unfamiliar actions at novel states during the initial training phase. We show that the proposed method improves sample-efficiency and final performance of the fine-tuned robotic agents on various locomotion and manipulation tasks. Our code is available at: https://github.com/shlee94/Off2OnRL.
Formal verification of octorotor flight envelope using barrier functions and SMT solving
Venue: arXiv cs.LO 2021
Year: 2021

This paper introduces an approach for formally verifying the safety of the flight controller of an octorotor platform. Our method involves finding regions of the octorotor's state space that are considered safe, and which can be proven to be invariant with respect to the dynamics. Specifically, exponential barrier functions are used to construct candidate invariant regions near desired commanded states. The proof that these regions are invariant is discovered automatically using the dReal SMT solver, which ensures the accurate command tracking of the octorotor to within a certain margin of error. Rotor failures in which rotor thrusts become stuck at fixed values are considered and accounted for via a pseudo-inverse control allocator. The safety of the control allocator is verified in dReal by checking that the thrusts demanded by the allocator never exceed the capability of the rotors. We apply our approach on a specific octorotor example and verify the desired command tracking properties of the controller under normal conditions and various combinations of rotor failures.
Improving Sound Event Classification by Increasing Shift Invariance in Convolutional Neural Networks
Venue: arXiv cs.SD 2021
Year: 2021

Recent studies have put into question the commonly assumed shift invariance property of convolutional networks, showing that small shifts in the input can affect the output predictions substantially. In this paper, we analyze the benefits of addressing lack of shift invariance in CNN-based sound event classification. Specifically, we evaluate two pooling methods to improve shift invariance in CNNs, based on low-pass filtering and adaptive sampling of incoming feature maps. These methods are implemented via small architectural modifications inserted into the pooling layers of CNNs. We evaluate the effect of these architectural changes on the FSD50K dataset using models of different capacity and in presence of strong regularization. We show that these modifications consistently improve sound event classification in all cases considered. We also demonstrate empirically that the proposed pooling methods increase shift invariance in the network, making it more robust against time/frequency shifts in input spectrograms. This is achieved by adding a negligible amount of trainable parameters, which makes these methods an appealing alternative to conventional pooling layers. The outcome is a new state-of-the-art mAP of 0.541 on the FSD50K classification benchmark.