OpenRaiser/Intern-Atlas huggingface dataset:
Deep Reinforcement Learning for Autonomous Vehicle Intersection Navigation
Venue: arXiv cs.RO 2023
Year: 2023

In this paper, we explore the challenges associated with navigating complex T-intersections in dense traffic scenarios for autonomous vehicles (AVs). Reinforcement learning algorithms have emerged as a promising approach to address these challenges by enabling AVs to make safe and efficient decisions in real-time. Here, we address the problem of efficiently and safely navigating T-intersections using a lower-cost, single-agent approach based on the Twin Delayed Deep Deterministic Policy Gradient (TD3) reinforcement learning algorithm. We show that our TD3-based method, when trained and tested in the CARLA simulation platform, demonstrates stable convergence and improved safety performance in various traffic densities. Our results reveal that the proposed approach enables the AV to effectively navigate T-intersections, outperforming previous methods in terms of travel delays, collision minimization, and overall cost. This study contributes to the growing body of knowledge on reinforcement learning applications in autonomous driving and highlights the potential of single-agent, cost-effective methods for addressing more complex driving scenarios and advancing reinforcement learning algorithms in the future.
Circular Average Filtering and Circular Linear Interpolation in Complex Color Spaces
Venue: arXiv cs.GR 2023
Year: 2023

In color spaces where the chromatic term is given in polar coordinates, the shortest distance between colors of the same value is circular. By converting such a space into a complex polar form with a real-valued value axis, a color algebra for combining colors is immediately available. In this work, we introduce two complex space operations utilizing this observation: circular average filtering and circular linear interpolation. These operations produce Archimedean Spirals, thus guaranteeing that they operate along the shortest paths. We demonstrate that these operations provide an intuitive way to work in certain color spaces and that they are particularly useful for obtaining better filtering and interpolation results. We present a set of examples based on the perceptually uniform color space CIELAB or L*a*b* with its polar form CIEHLC. We conclude that representing colors in a complex space with circular operations can provide better visual results by exploitation of the strong algebraic properties of complex space C.
Virtual Augmented Reality for Atari Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

Reinforcement Learning (RL) has achieved significant milestones in the gaming domain, most notably Google DeepMind's AlphaGo defeating human Go champion Ken Jie. This victory was also made possible through the Atari Learning Environment (ALE): The ALE has been foundational in RL research, facilitating significant RL algorithm developments such as AlphaGo and others. In current Atari video game RL research, RL agents' perceptions of its environment is based on raw pixel data from the Atari video game screen with minimal image preprocessing. Contrarily, cutting-edge ML research, external to the Atari video game RL research domain, is focusing on enhancing image perception. A notable example is Meta Research's "Segment Anything Model" (SAM), a foundation model capable of segmenting images without prior training (zero-shot). This paper addresses a novel methodical question: Can state-of-the-art image segmentation models such as SAM improve the performance of RL agents playing Atari video games? The results suggest that SAM can serve as a "virtual augmented reality" for the RL agent, boosting its Atari video game playing performance under certain conditions. Comparing RL agent performance results from raw and augmented pixel inputs provides insight into these conditions. Although this paper was limited by computational constraints, the findings show improved RL agent performance for augmented pixel inputs and can inform broader research agendas in the domain of "virtual augmented reality for video game playing RL agents".
A Benchmarking Protocol for SAR Colorization: From Regression to Deep Learning Approaches
Venue: arXiv cs.CV 2023
Year: 2023

Synthetic aperture radar (SAR) images are widely used in remote sensing. Interpreting SAR images can be challenging due to their intrinsic speckle noise and grayscale nature. To address this issue, SAR colorization has emerged as a research direction to colorize gray scale SAR images while preserving the original spatial information and radiometric information. However, this research field is still in its early stages, and many limitations can be highlighted. In this paper, we propose a full research line for supervised learning-based approaches to SAR colorization. Our approach includes a protocol for generating synthetic color SAR images, several baselines, and an effective method based on the conditional generative adversarial network (cGAN) for SAR colorization. We also propose numerical assessment metrics for the problem at hand. To our knowledge, this is the first attempt to propose a research line for SAR colorization that includes a protocol, a benchmark, and a complete performance evaluation. Our extensive tests demonstrate the effectiveness of our proposed cGAN-based network for SAR colorization. The code will be made publicly available.
End-to-end Story Plot Generator
Venue: arXiv cs.CL 2023
Year: 2023

Story plots, while short, carry most of the essential information of a full story that may contain tens of thousands of words. We study the problem of automatic generation of story plots, which includes story premise, character descriptions, plot outlines, etc. To generate a single engaging plot, existing plot generators (e.g., DOC (Yang et al., 2022a)) require hundreds to thousands of calls to LLMs (e.g., OpenAI API) in the planning stage of the story plot, which is costly and takes at least several minutes. Moreover, the hard-wired nature of the method makes the pipeline non-differentiable, blocking fast specialization and personalization of the plot generator. In this paper, we propose three models, $\texttt{OpenPlot}$, $\texttt{E2EPlot}$ and $\texttt{RLPlot}$, to address these challenges. $\texttt{OpenPlot}$ replaces expensive OpenAI API calls with LLaMA2 (Touvron et al., 2023) calls via careful prompt designs, which leads to inexpensive generation of high-quality training datasets of story plots. We then train an end-to-end story plot generator, $\texttt{E2EPlot}$, by supervised fine-tuning (SFT) using approximately 13000 story plots generated by $\texttt{OpenPlot}$. $\texttt{E2EPlot}$ generates story plots of comparable quality to $\texttt{OpenPlot}$, and is > 10$\times$ faster (1k tokens in only 30 seconds on average). Finally, we obtain $\texttt{RLPlot}$ that is further fine-tuned with RLHF on several different reward models for different aspects of story quality, which yields 60.0$\%$ winning rate against $\texttt{E2EPlot}$ along the aspect of suspense and surprise.
Multi-Robot Geometric Task-and-Motion Planning for Collaborative Manipulation Tasks
Venue: arXiv cs.RO 2023
Year: 2023

We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable objects. We focus on collaborative manipulation tasks where the robots have to adopt intelligent collaboration strategies to be successful and effective, i.e., decide which robot should move which objects to which positions, and perform collaborative actions, such as handovers. To endow robots with these collaboration capabilities, we propose to first collect occlusion and reachability information for each robot by calling motion-planning algorithms. We then propose a method that uses the collected information to build a graph structure which captures the precedence of the manipulations of different objects and supports the implementation of a mixed-integer program to guide the search for highly effective collaborative task-and-motion plans. The search process for collaborative task-and-motion plans is based on a Monte-Carlo Tree Search (MCTS) exploration strategy to achieve exploration-exploitation balance. We evaluate our framework in two challenging MR-GTAMP domains and show that it outperforms two state-of-the-art baselines with respect to the planning time, the resulting plan length and the number of objects moved. We also show that our framework can be applied to underground mining operations where a robotic arm needs to coordinate with an autonomous roof bolter. We demonstrate plan execution in two roof-bolting scenarios both in simulation and on robots.
Exploring the relationship between response time sequence in scale answering process and severity of insomnia: a machine learning approach
Venue: arXiv cs.LG 2023
Year: 2023

Objectives: The study aims to investigate the relationship between insomnia and response time. Additionally, it aims to develop a machine learning model to predict the presence of insomnia in participants using response time data. Methods: A mobile application was designed to administer scale tests and collect response time data from 2729 participants. The relationship between symptom severity and response time was explored, and a machine learning model was developed to predict the presence of insomnia. Results: The result revealed a statistically significant difference (p<.001) in the total response time between participants with or without insomnia symptoms. A correlation was observed between the severity of specific insomnia aspects and response times at the individual questions level. The machine learning model demonstrated a high predictive accuracy of 0.743 in predicting insomnia symptoms based on response time data. Conclusions: These findings highlight the potential utility of response time data to evaluate cognitive and psychological measures, demonstrating the effectiveness of using response time as a diagnostic tool in the assessment of insomnia.
Distance-rank Aware Sequential Reward Learning for Inverse Reinforcement Learning with Sub-optimal Demonstrations
Venue: arXiv cs.LG 2023
Year: 2023

Inverse reinforcement learning (IRL) aims to explicitly infer an underlying reward function based on collected expert demonstrations. Considering that obtaining expert demonstrations can be costly, the focus of current IRL techniques is on learning a better-than-demonstrator policy using a reward function derived from sub-optimal demonstrations. However, existing IRL algorithms primarily tackle the challenge of trajectory ranking ambiguity when learning the reward function. They overlook the crucial role of considering the degree of difference between trajectories in terms of their returns, which is essential for further removing reward ambiguity. Additionally, it is important to note that the reward of a single transition is heavily influenced by the context information within the trajectory. To address these issues, we introduce the Distance-rank Aware Sequential Reward Learning (DRASRL) framework. Unlike existing approaches, DRASRL takes into account both the ranking of trajectories and the degrees of dissimilarity between them to collaboratively eliminate reward ambiguity when learning a sequence of contextually informed reward signals. Specifically, we leverage the distance between policies, from which the trajectories are generated, as a measure to quantify the degree of differences between traces. This distance-aware information is then used to infer embeddings in the representation space for reward learning, employing the contrastive learning technique. Meanwhile, we integrate the pairwise ranking loss function to incorporate ranking information into the latent features. Moreover, we resort to the Transformer architecture to capture the contextual dependencies within the trajectories in the latent space, leading to more accurate reward estimation. Through extensive experimentation, our DRASRL framework demonstrates significant performance improvements over previous SOTA methods.
Urban Drone Navigation: Autoencoder Learning Fusion for Aerodynamics
Venue: arXiv cs.RO 2023
Year: 2023

Drones are vital for urban emergency search and rescue (SAR) due to the challenges of navigating dynamic environments with obstacles like buildings and wind. This paper presents a method that combines multi-objective reinforcement learning (MORL) with a convolutional autoencoder to improve drone navigation in urban SAR. The approach uses MORL to achieve multiple goals and the autoencoder for cost-effective wind simulations. By utilizing imagery data of urban layouts, the drone can autonomously make navigation decisions, optimize paths, and counteract wind effects without traditional sensors. Tested on a New York City model, this method enhances drone SAR operations in complex urban settings.
Spatially Continuous Non-Contact Cold Sensation Presentation Based on Low-Temperature Airflows
Venue: arXiv cs.HC 2023
Year: 2023

Our perception of cold enriches our understanding of the world and allows us to interact with it. Therefore, the presentation of cold sensations will be beneficial in improving the sense of immersion and presence in virtual reality and the metaverse. This study proposed a novel method for spatially continuous cold sensation presentation based on low-temperature airflows. We defined the shortest distance between two airflows perceived as different cold stimuli as a local cold stimulus group discrimination threshold (LCSGDT). By setting the distance between airflows within the LCSGDT, spatially continuous cold sensations can be achieved with an optimal number of cold airflows. We hypothesized that the LCSGDTs are related to the heat-transfer capability of airflows and developed a model to relate them. We investigated the LCSGDTs at a flow rate of 25 L/min and presentation distances ranging from 10 to 50 mm. The results showed that under these conditions, the LCSGDTs are 131.4 $\pm$ 1.9 mm, and the heat-transfer capacity of the airflow corresponding to these LCSGDTs is an almost constant value, that is, 0.92.
Guiding AMR Parsing with Reverse Graph Linearization
Venue: arXiv cs.CL 2023
Year: 2023

Abstract Meaning Representation (AMR) parsing aims to extract an abstract semantic graph from a given sentence. The sequence-to-sequence approaches, which linearize the semantic graph into a sequence of nodes and edges and generate the linearized graph directly, have achieved good performance. However, we observed that these approaches suffer from structure loss accumulation during the decoding process, leading to a much lower F1-score for nodes and edges decoded later compared to those decoded earlier. To address this issue, we propose a novel Reverse Graph Linearization (RGL) enhanced framework. RGL defines both default and reverse linearization orders of an AMR graph, where most structures at the back part of the default order appear at the front part of the reversed order and vice versa. RGL incorporates the reversed linearization to the original AMR parser through a two-pass self-distillation mechanism, which guides the model when generating the default linearizations. Our analysis shows that our proposed method significantly mitigates the problem of structure loss accumulation, outperforming the previously best AMR parsing model by 0.8 and 0.5 Smatch scores on the AMR 2.0 and AMR 3.0 dataset, respectively. The code are available at https://github.com/pkunlp-icler/AMR_reverse_graph_linearization.
Exploration with Principles for Diverse AI Supervision
Venue: arXiv cs.CL 2023
Year: 2023

Training large transformers using next-token prediction has given rise to groundbreaking advancements in AI. While this generative AI approach has produced impressive results, it heavily leans on human supervision. Even state-of-the-art AI models like ChatGPT depend on fine-tuning through human demonstrations, demanding extensive human input and domain expertise. This strong reliance on human oversight poses a significant hurdle to the advancement of AI innovation. To address this limitation, we propose a novel paradigm termed Exploratory AI (EAI) aimed at autonomously generating high-quality training data. Drawing inspiration from unsupervised reinforcement learning (RL) pretraining, EAI achieves exploration within the natural language space. We accomplish this by harnessing large language models to assess the novelty of generated content. Our approach employs two key components: an actor that generates novel content following exploration principles and a critic that evaluates the generated content, offering critiques to guide the actor. Empirical evaluations demonstrate that EAI significantly boosts model performance on complex reasoning tasks, addressing the limitations of human-intensive supervision.
xDial-Eval: A Multilingual Open-Domain Dialogue Evaluation Benchmark
Venue: arXiv cs.CL 2023
Year: 2023

Recent advancements in reference-free learned metrics for open-domain dialogue evaluation have been driven by the progress in pre-trained language models and the availability of dialogue data with high-quality human annotations. However, current studies predominantly concentrate on English dialogues, and the generalization of these metrics to other languages has not been fully examined. This is largely due to the absence of a multilingual dialogue evaluation benchmark. To address the issue, we introduce xDial-Eval, built on top of open-source English dialogue evaluation datasets. xDial-Eval includes 12 turn-level and 6 dialogue-level English datasets, comprising 14930 annotated turns and 8691 annotated dialogues respectively. The English dialogue data are extended to nine other languages with commercial machine translation systems. On xDial-Eval, we conduct comprehensive analyses of previous BERT-based metrics and the recently-emerged large language models. Lastly, we establish strong self-supervised and multilingual baselines. In terms of average Pearson correlations over all datasets and languages, the best baseline outperforms OpenAI's ChatGPT by absolute improvements of 6.5% and 4.6% at the turn and dialogue levels respectively, albeit with much fewer parameters. The data and code are publicly available at https://github.com/e0397123/xDial-Eval.
A Parallel Feature-preserving Mesh Variable Offsetting Method with Dynamic Programming
Venue: arXiv cs.GR 2023
Year: 2023

Mesh offsetting plays an important role in discrete geometric processing. In this paper, we propose a parallel feature-preserving mesh offsetting framework with variable distance. Different from the traditional method based on distance and normal vector, a new calculation of offset position is proposed by using dynamic programming and quadratic programming, and the sharp feature can be preserved after offsetting. Instead of distance implicit field, a spatial coverage region represented by polyhedral for computing offsets is proposed. Our method can generate an offsetting model with smaller mesh size, and also can achieve high quality without gaps, holes, and self-intersections. Moreover, several acceleration techniques are proposed for the efficient mesh offsetting, such as the parallel computing with grid, AABB tree and rays computing. In order to show the efficiency and robustness of the proposed framework, we have tested our method on the quadmesh dataset, which is available at [https://www.quadmesh.cloud]. The source code of the proposed algorithm is available on GitHub at [https://github.com/iGame-Lab/PFPOffset].
μ-DDRL: A QoS-Aware Distributed Deep Reinforcement Learning Technique for Service Offloading in Fog computing Environments
Venue: arXiv cs.DC 2023
Year: 2023

Fog and Edge computing extend cloud services to the proximity of end users, allowing many Internet of Things (IoT) use cases, particularly latency-critical applications. Smart devices, such as traffic and surveillance cameras, often do not have sufficient resources to process computation-intensive and latency-critical services. Hence, the constituent parts of services can be offloaded to nearby Edge/Fog resources for processing and storage. However, making offloading decisions for complex services in highly stochastic and dynamic environments is an important, yet difficult task. Recently, Deep Reinforcement Learning (DRL) has been used in many complex service offloading problems; however, existing techniques are most suitable for centralized environments, and their convergence to the best-suitable solutions is slow. In addition, constituent parts of services often have predefined data dependencies and quality of service constraints, which further intensify the complexity of service offloading. To solve these issues, we propose a distributed DRL technique following the actor-critic architecture based on Asynchronous Proximal Policy Optimization (APPO) to achieve efficient and diverse distributed experience trajectory generation. Also, we employ PPO clipping and V-trace techniques for off-policy correction for faster convergence to the most suitable service offloading solutions. The results obtained demonstrate that our technique converges quickly, offers high scalability and adaptability, and outperforms its counterparts by improving the execution time of heterogeneous services.
New Lower Bounds for Reachability in Vector Addition Systems
Venue: arXiv cs.FL 2023
Year: 2023

We investigate the dimension-parametric complexity of the reachability problem in vector addition systems with states (VASS) and its extension with pushdown stack (pushdown VASS). Up to now, the problem is known to be $\mathcal{F}_k$-hard for VASS of dimension $3k+2$ (the complexity class $\mathcal{F}_k$ corresponds to the $k$th level of the fast-growing hierarchy), and no essentially better bound is known for pushdown VASS. We provide a new construction that improves the lower bound for VASS: $\mathcal{F}_k$-hardness in dimension $2k+3$. Furthermore, building on our new insights we show a new lower bound for pushdown VASS: $\mathcal{F}_k$-hardness in dimension $\frac k 2 + 4$. This dimension-parametric lower bound is strictly stronger than the upper bound for VASS, which suggests that the (still unknown) complexity of the reachability problem in pushdown VASS is higher than in plain VASS (where it is Ackermann-complete).
DATT: Deep Adaptive Trajectory Tracking for Quadrotor Control
Venue: arXiv cs.RO 2023
Year: 2023

Precise arbitrary trajectory tracking for quadrotors is challenging due to unknown nonlinear dynamics, trajectory infeasibility, and actuation limits. To tackle these challenges, we present Deep Adaptive Trajectory Tracking (DATT), a learning-based approach that can precisely track arbitrary, potentially infeasible trajectories in the presence of large disturbances in the real world. DATT builds on a novel feedforward-feedback-adaptive control structure trained in simulation using reinforcement learning. When deployed on real hardware, DATT is augmented with a disturbance estimator using L1 adaptive control in closed-loop, without any fine-tuning. DATT significantly outperforms competitive adaptive nonlinear and model predictive controllers for both feasible smooth and infeasible trajectories in unsteady wind fields, including challenging scenarios where baselines completely fail. Moreover, DATT can efficiently run online with an inference time less than 3.2 ms, less than 1/4 of the adaptive nonlinear model predictive control baseline