OpenRaiser/Intern-Atlas huggingface dataset:
Learning Context-Adaptive Task Constraints for Robotic Manipulation
Venue: arXiv cs.RO 2021
Year: 2021

Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually requires a human-expert and often leads to tailor-made solutions for specific situations. This paper presents our recent efforts to automatically derive task constraints for a constraint-based robot controller from data and adapt them with respect to previously unseen situations (contexts). We use a programming-by-demonstration approach to generate training data in multiple variations (context changes) of a given task. From this data we learn a probabilistic model that maps context variables to task constraints and their respective soft task priorities. We evaluate our approach with 3 different dual-arm manipulation tasks on an industrial robot and show that it performs better in terms of reproduction accuracy than constraint-based controllers with manually specified constraints.
MFNets: Data efficient all-at-once learning of multifidelity surrogates as directed networks of information sources
Venue: arXiv cs.LG 2021
Year: 2021

We present an approach for constructing a surrogate from ensembles of information sources of varying cost and accuracy. The multifidelity surrogate encodes connections between information sources as a directed acyclic graph, and is trained via gradient-based minimization of a nonlinear least squares objective. While the vast majority of state-of-the-art assumes hierarchical connections between information sources, our approach works with flexibly structured information sources that may not admit a strict hierarchy. The formulation has two advantages: (1) increased data efficiency due to parsimonious multifidelity networks that can be tailored to the application; and (2) no constraints on the training data -- we can combine noisy, non-nested evaluations of the information sources. Numerical examples ranging from synthetic to physics-based computational mechanics simulations indicate the error in our approach can be orders-of-magnitude smaller, particularly in the low-data regime, than single-fidelity and hierarchical multifidelity approaches.
Polysemy Deciphering Network for Robust Human-Object Interaction Detection
Venue: arXiv cs.CV 2021
Year: 2021

Human-Object Interaction (HOI) detection is important to human-centric scene understanding tasks. Existing works tend to assume that the same verb has similar visual characteristics in different HOI categories, an approach that ignores the diverse semantic meanings of the verb. To address this issue, in this paper, we propose a novel Polysemy Deciphering Network (PD-Net) that decodes the visual polysemy of verbs for HOI detection in three distinct ways. First, we refine features for HOI detection to be polysemyaware through the use of two novel modules: namely, Language Prior-guided Channel Attention (LPCA) and Language Prior-based Feature Augmentation (LPFA). LPCA highlights important elements in human and object appearance features for each HOI category to be identified; moreover, LPFA augments human pose and spatial features for HOI detection using language priors, enabling the verb classifiers to receive language hints that reduce intra-class variation for the same verb. Second, we introduce a novel Polysemy-Aware Modal Fusion module (PAMF), which guides PD-Net to make decisions based on feature types deemed more important according to the language priors. Third, we propose to relieve the verb polysemy problem through sharing verb classifiers for semantically similar HOI categories. Furthermore, to expedite research on the verb polysemy problem, we build a new benchmark dataset named HOI-VerbPolysemy (HOIVP), which includes common verbs (predicates) that have diverse semantic meanings in the real world. Finally, through deciphering the visual polysemy of verbs, our approach is demonstrated to outperform state-of-the-art methods by significant margins on the HICO-DET, V-COCO, and HOI-VP databases. Code and data in this paper are available at https://github.com/MuchHair/PD-Net.
A Technique for Determining Relevance Scores of Process Activities using Graph-based Neural Networks
Venue: arXiv cs.LG 2021
Year: 2021

Process models generated through process mining depict the as-is state of a process. Through annotations with metrics such as the frequency or duration of activities, these models provide generic information to the process analyst. To improve business processes with respect to performance measures, process analysts require further guidance from the process model. In this study, we design Graph Relevance Miner (GRM), a technique based on graph neural networks, to determine the relevance scores for process activities with respect to performance measures. Annotating process models with such relevance scores facilitates a problem-focused analysis of the business process, placing these problems at the centre of the analysis. We quantitatively evaluate the predictive quality of our technique using four datasets from different domains, to demonstrate the faithfulness of the relevance scores. Furthermore, we present the results of a case study, which highlight the utility of the technique for organisations. Our work has important implications both for research and business applications, because process model-based analyses feature shortcomings that need to be urgently addressed to realise successful process mining at an enterprise level.
HoliCity: A City-Scale Data Platform for Learning Holistic 3D Structures
Venue: arXiv cs.CV 2021
Year: 2021

We present HoliCity, a city-scale 3D dataset with rich structural information. Currently, this dataset has 6,300 real-world panoramas of resolution $13312 \times 6656$ that are accurately aligned with the CAD model of downtown London with an area of more than 20 km$^2$, in which the median reprojection error of the alignment of an average image is less than half a degree. This dataset aims to be an all-in-one data platform for research of learning abstracted high-level holistic 3D structures that can be derived from city CAD models, e.g., corners, lines, wireframes, planes, and cuboids, with the ultimate goal of supporting real-world applications including city-scale reconstruction, localization, mapping, and augmented reality. The accurate alignment of the 3D CAD models and panoramas also benefits low-level 3D vision tasks such as surface normal estimation, as the surface normal extracted from previous LiDAR-based datasets is often noisy. We conduct experiments to demonstrate the applications of HoliCity, such as predicting surface segmentation, normal maps, depth maps, and vanishing points, as well as test the generalizability of methods trained on HoliCity and other related datasets. HoliCity is available at https://holicity.io.
Double Blind $T$-Private Information Retrieval
Venue: arXiv cs.IT 2021
Year: 2021

Double blind $T$-private information retrieval (DB-TPIR) enables two users, each of whom specifies an index ($θ_1, θ_2$, resp.), to efficiently retrieve a message $W(θ_1,θ_2)$ labeled by the two indices, from a set of $N$ servers that store all messages $W(k_1,k_2), k_1\in\{1,2,\cdots,K_1\}, k_2\in\{1,2,\cdots,K_2\}$, such that the two users' indices are kept private from any set of up to $T_1,T_2$ colluding servers, respectively, as well as from each other. A DB-TPIR scheme based on cross-subspace alignment is proposed in this paper, and shown to be capacity-achieving in the asymptotic setting of large number of messages and bounded latency. The scheme is then extended to $M$-way blind $X$-secure $T$-private information retrieval (MB-XS-TPIR) with multiple ($M$) indices, each belonging to a different user, arbitrary privacy levels for each index ($T_1, T_2,\cdots, T_M$), and arbitrary level of security ($X$) of data storage, so that the message $W(θ_1,θ_2,\cdots, θ_M)$ can be efficiently retrieved while the stored data is held secure against collusion among up to $X$ colluding servers, the $m^{th}$ user's index is private against collusion among up to $T_m$ servers, and each user's index $θ_m$ is private from all other users. The general scheme relies on a tensor-product based extension of cross-subspace alignment and retrieves $1-(X+T_1+\cdots+T_M)/N$ bits of desired message per bit of download.
On the Value of Oversampling for Deep Learning in Software Defect Prediction
Venue: arXiv cs.SE 2021
Year: 2021

One truism of deep learning is that the automatic feature engineering (seen in the first layers of those networks) excuses data scientists from performing tedious manual feature engineering prior to running DL. For the specific case of deep learning for defect prediction, we show that that truism is false. Specifically, when we preprocess data with a novel oversampling technique called fuzzy sampling, as part of a larger pipeline called GHOST (Goal-oriented Hyper-parameter Optimization for Scalable Training), then we can do significantly better than the prior DL state of the art in 14/20 defect data sets. Our approach yields state-of-the-art results significantly faster deep learners. These results present a cogent case for the use of oversampling prior to applying deep learning on software defect prediction datasets.
A Full Second-Order Analysis of the Widely Linear MVDR Beamformer for Noncircular Signals
Venue: arXiv cs.IT 2021
Year: 2021

A full performance analysis of the widely linear (WL) minimum variance distortionless response (MVDR) beamformer is introduced. While the WL MVDR is known to outperform its strictly linear counterpart, the Capon beamformer, for noncircular complex signals, the existing approaches provide limited physical insights, since they explicitly or implicitly omit the complementary second-order (SO) statistics of the output interferences and noise (IN). To this end, we exploit the full SO statistics of the output IN to introduce a full SO performance analysis framework for the WL MVDR beamformer. This makes it possible to separate the overall signal-to-interference plus noise ratio (SINR) gain of the WL MVDR beamformer w.r.t. the Capon one into the individual contributions along the in-phase (I) and quadrature (Q) channels. Next, by considering the reception of the unknown signal of interest (SOI) corrupted by an arbitrary number of orthogonal noncircular interferences, we further unveil the distribution of SINR gains in both the I and Q channels, and show that in almost all the spatial cases, these performance advantages are more pronounced when the SO noncircularity rate of the interferences increases. Illustrative numerical simulations are provided to support the theoretical results.
Creative AI Through Evolutionary Computation: Principles and Examples
Venue: arXiv cs.NE 2021
Year: 2021

The main power of artificial intelligence is not in modeling what we already know, but in creating solutions that are new. Such solutions exist in extremely large, high-dimensional, and complex search spaces. Population-based search techniques, i.e. variants of evolutionary computation, are well suited to finding them. These techniques make it possible to find creative solutions to practical problems in the real world, making creative AI through evolutionary computation the likely "next deep learning."
Boosting Ant Colony Optimization via Solution Prediction and Machine Learning
Venue: arXiv cs.NE 2021
Year: 2021

This paper introduces an enhanced meta-heuristic (ML-ACO) that combines machine learning (ML) and ant colony optimization (ACO) to solve combinatorial optimization problems. To illustrate the underlying mechanism of our ML-ACO algorithm, we start by describing a test problem, the orienteering problem. In this problem, the objective is to find a route that visits a subset of vertices in a graph within a time budget to maximize the collected score. In the first phase of our ML-ACO algorithm, an ML model is trained using a set of small problem instances where the optimal solution is known. Specifically, classification models are used to classify an edge as being part of the optimal route, or not, using problem-specific features and statistical measures. The trained model is then used to predict the probability that an edge in the graph of a test problem instance belongs to the corresponding optimal route. In the second phase, we incorporate the predicted probabilities into the ACO component of our algorithm, i.e., using the probability values as heuristic weights or to warm start the pheromone matrix. Here, the probability values bias sampling towards favoring those predicted high-quality edges when constructing feasible routes. We have tested multiple classification models including graph neural networks, logistic regression and support vector machines, and the experimental results show that our solution prediction approach consistently boosts the performance of ACO. Further, we empirically show that our ML model trained on small synthetic instances generalizes well to large synthetic and real-world instances. Our approach integrating ML with a meta-heuristic is generic and can be applied to a wide range of optimization problems.
From Quasi-Dominions to Progress Measures
Venue: arXiv cs.LO 2021
Year: 2021

We revisit the approaches to the solution of parity games based on progress measures and show how the notion of quasi dominions can be integrated with those approaches. The idea is that, while progress measure based techniques typically focus on one of the two players, little information is gathered on the other player during the solution process. Adding quasi dominions provides additional information on this player that can be leveraged to greatly accelerate convergence to a progress measure. To accommodate quasi dominions, however, non trivial refinements of the approach are necessary. In particular, we need to introduce a novel notion of measure and a new method to prove correctness of the resulting solution technique.
Fully Read/Write Fence-Free Work-Stealing with Multiplicity
Venue: arXiv cs.DC 2021
Year: 2021

Work-stealing is a popular technique to implement dynamic load balancing in a distributed manner. In this approach, each process owns a set of tasks that have to be executed. The owner of the set can put tasks in it and can take tasks from it to execute them. When a process runs out of tasks, instead of being idle, it becomes a thief to steal tasks from a victim. Thus, a work-stealing algorithm provides three high-level operations: Put and Take, which can be invoked only by the owner, and Steal, which can be invoked by a thief. One of the main targets when designing work-stealing algorithms is to make Put and Take as simple and efficient as possible. Unfortunately, it has been shown that any work-stealing algorithm in the standard asynchronous model must use expensive Read- After-Write synchronization patterns or atomic Read-Modify-Write instructions, which may be costly in practice. Thus, prior research has proposed idempotent work-stealing, a relaxation for which there are algorithms with Put and Take devoid of Read-Modify-Write atomic instructions and Read-After-Write synchronization patterns; however, Put uses fences among Write instructions, and Steal uses Compare&Swap and fences among Read instructions. In the TSO model, in which Write (resp. Read) instructions cannot be reordered, there have been proposed fully fence-free work-stealing algorithms whose Put and Take have similar properties but Steal uses Compare&Swap or a lock.
Byzantine Fault-Tolerant Distributed Machine Learning Using Stochastic Gradient Descent (SGD) and Norm-Based Comparative Gradient Elimination (CGE)
Venue: arXiv cs.LG 2021
Year: 2021

This paper considers the Byzantine fault-tolerance problem in distributed stochastic gradient descent (D-SGD) method - a popular algorithm for distributed multi-agent machine learning. In this problem, each agent samples data points independently from a certain data-generating distribution. In the fault-free case, the D-SGD method allows all the agents to learn a mathematical model best fitting the data collectively sampled by all agents. We consider the case when a fraction of agents may be Byzantine faulty. Such faulty agents may not follow a prescribed algorithm correctly, and may render traditional D-SGD method ineffective by sharing arbitrary incorrect stochastic gradients. We propose a norm-based gradient-filter, named comparative gradient elimination (CGE), that robustifies the D-SGD method against Byzantine agents. We show that the CGE gradient-filter guarantees fault-tolerance against a bounded fraction of Byzantine agents under standard stochastic assumptions, and is computationally simpler compared to many existing gradient-filters such as multi-KRUM, geometric median-of-means, and the spectral filters. We empirically show, by simulating distributed learning on neural networks, that the fault-tolerance of CGE is comparable to that of existing gradient-filters. We also empirically show that exponential averaging of stochastic gradients improves the fault-tolerance of a generic gradient-filter.
Ortus: an Emotion-Driven Approach to (artificial) Biological Intelligence
Venue: arXiv cs.AI 2021
Year: 2021

Ortus is a simple virtual organism that also serves as an initial framework for investigating and developing biologically-based artificial intelligence. Born from a goal to create complex virtual intelligence and an initial attempt to model C. elegans, Ortus implements a number of mechanisms observed in organic nervous systems, and attempts to fill in unknowns based upon plausible biological implementations and psychological observations. Implemented mechanisms include excitatory and inhibitory chemical synapses, bidirectional gap junctions, and Hebbian learning with its Stentian extension. We present an initial experiment that showcases Ortus' fundamental principles; specifically, a cyclic respiratory circuit, and emotionally-driven associative learning with respect to an input stimulus. Finally, we discuss the implications and future directions for Ortus and similar systems.
Fast and Eager k-Medoids Clustering: O(k) Runtime Improvement of the PAM, CLARA, and CLARANS Algorithms
Venue: arXiv cs.LG 2021
Year: 2021

Clustering non-Euclidean data is difficult, and one of the most used algorithms besides hierarchical clustering is the popular algorithm Partitioning Around Medoids (PAM), also simply referred to as k-medoids clustering. In Euclidean geometry the mean-as used in k-means-is a good estimator for the cluster center, but this does not exist for arbitrary dissimilarities. PAM uses the medoid instead, the object with the smallest dissimilarity to all others in the cluster. This notion of centrality can be used with any (dis-)similarity, and thus is of high relevance to many domains and applications. A key issue with PAM is its high run time cost. We propose modifications to the PAM algorithm that achieve an O(k)-fold speedup in the second ("SWAP") phase of the algorithm, but will still find the same results as the original PAM algorithm. If we relax the choice of swaps performed (while retaining comparable quality), we can further accelerate the algorithm by eagerly performing additional swaps in each iteration. With the substantially faster SWAP, we can now explore faster initialization strategies, because (i) the classic ("BUILD") initialization now becomes the bottleneck, and (ii) our swap is fast enough to compensate for worse starting conditions. We also show how the CLARA and CLARANS algorithms benefit from the proposed modifications. While we do not study the parallelization of our approach in this work, it can easily be combined with earlier approaches to use PAM and CLARA on big data (some of which use PAM as a subroutine, hence can immediately benefit from these improvements), where the performance with high k becomes increasingly important. In experiments on real data with k=100,200, we observed a 458x respectively 1191x speedup compared to the original PAM SWAP algorithm, making PAM applicable to larger data sets, and in particular to higher k.
Social Companion Robots to Reduce Isolation: A Perception Change Due to COVID-19
Venue: arXiv cs.CY 2021
Year: 2021

Social isolation is one of the negative consequences of a pandemic like COVID-19. Social isolation and loneliness are not only experienced by older adults, but also by younger people who live alone and cannot communicate with others or get involved in social situations as they used to. In such situations, social companion robots might have the potential to reduce social isolation and increase well-being. However, society's perception of social robots has not always been positive. In this paper, we conducted two online experiments with 102 and 132 participants during the self isolation periods of COVID-19 (May-June 2020 and January 2021), to study how COVID-19 has affected people's perception of the benefits of a social robot. Our results showed that a change caused by COVID-19, as well as having an older relative who lived alone or at a care center during the pandemic significantly and positively affected people's perception of social robots, as companions, and that the feeling of loneliness can drive the purchase of a social robot. The second study replicated the results of the first study. We also discuss the effects of Big 5 personality traits on the likelihood to purchase a social robot, as well as on participants' general attitude towards COVID-19 and adapting to the pandemic.
Model-Based Offline Planning
Venue: arXiv cs.LG 2021
Year: 2021

Offline learning is a key part of making reinforcement learning (RL) useable in real systems. Offline RL looks at scenarios where there is data from a system's operation, but no direct access to the system when learning a policy. Recent work on training RL policies from offline data has shown results both with model-free policies learned directly from the data, or with planning on top of learnt models of the data. Model-free policies tend to be more performant, but are more opaque, harder to command externally, and less easy to integrate into larger systems. We propose an offline learner that generates a model that can be used to control the system directly through planning. This allows us to have easily controllable policies directly from data, without ever interacting with the system. We show the performance of our algorithm, Model-Based Offline Planning (MBOP) on a series of robotics-inspired tasks, and demonstrate its ability leverage planning to respect environmental constraints. We are able to find near-optimal polices for certain simulated systems from as little as 50 seconds of real-time system interaction, and create zero-shot goal-conditioned policies on a series of environments. An accompanying video can be found here: https://youtu.be/nxGGHdZOFts