OpenRaiser/Intern-Atlas huggingface dataset:
Learning Variable Impedance Control for Contact Sensitive Tasks
Venue: arXiv cs.RO 2020
Year: 2020

Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact interactions. Though in principle a policy directly outputting joint torques should be able to learn to perform these tasks, in practice we see that it has difficulty to robustly solve the problem without any given structure in the action space. In this paper, we investigate how the choice of action space can give robust performance in presence of contact uncertainties. We propose learning a policy giving as output impedance and desired position in joint space and compare the performance of that approach to torque and position control under different contact uncertainties. Furthermore, we propose an additional reward term designed to regularize these variable impedance control policies, giving them interpretability and facilitating their transfer to real systems. We present extensive experiments in simulation of both floating and fixed-base systems in tasks involving contact uncertainties, as well as results for running the learned policies on a real system.
Typal Heterogeneous Equality Types
Venue: arXiv cs.LO 2020
Year: 2020

The usual homogeneous form of equality type in Martin-Löf Type Theory contains identifications between elements of the same type. By contrast, the heterogeneous form of equality contains identifications between elements of possibly different types. This paper introduces a simple set of axioms for such types. The axioms are equivalent to the combination of systematic elimination rules for both forms of equality, albeit with typal (also known as "propositional") computation properties, together with Streicher's Axiom K, or equivalently, the principle of uniqueness of identity proofs.
Generating Correctness Proofs with Neural Networks
Venue: arXiv cs.PL 2020
Year: 2020

Foundational verification allows programmers to build software which has been empirically shown to have high levels of assurance in a variety of important domains. However, the cost of producing foundationally verified software remains prohibitively high for most projects,as it requires significant manual effort by highly trained experts. In this paper we present Proverbot9001,a proof search system using machine learning techniques to produce proofs of software correctness in interactive theorem provers. We demonstrate Proverbot9001 on the proof obligations from a large practical proof project,the CompCert verified C compiler,and show that it can effectively automate what were previously manual proofs,automatically producing proofs for 27.5% of theorem statements in our test dataset, when combined with solver-based tooling. Without any additional solvers,we exhibit a proof completion rate that is a 4X improvement over prior state-of-the-art machine learning models for generating proofs in Coq.
Optimal Bi-level Lottery Design for Multi-agent Systems
Venue: arXiv cs.GT 2020
Year: 2020

Entities in multi-agent systems may seek conflicting subobjectives, and this leads to competition between them. To address performance degradation due to competition, we consider a bi-level lottery where a social planner at the high level selects a reward first and, sequentially, a set of players at the low level jointly determine a Nash equilibrium given the reward. The social planner is faced with efficiency losses where a Nash equilibrium of the lottery game may not coincide with the social optimum. We propose an optimal bi-level lottery design problem as finding the least reward and perturbations such that the induced Nash equilibrium produces the socially optimal payoff. We formally characterize the price of anarchy and the behavior of public goods and Nash equilibrium with respect to the reward and perturbations. We relax the optimal bi-level lottery design problem via a convex approximation and identify mild sufficient conditions under which the approximation is exact.
Prioritized Multi-stream Traffic in Uplink IoT Networks: Spatially Interacting Vacation Queues
Venue: arXiv cs.IT 2020
Year: 2020

Massive Internet of Things (IoT) is foreseen to introduce plethora of applications for a fully connected world. Heterogeneous traffic is envisaged, where packets generated at each IoT device should be differentiated and served according to their priority. This paper develops a novel priority-aware spatiotemporal mathematical model to characterize massive IoT networks with uplink prioritized multistream traffic (PMT). Particularly, stochastic geometry is utilized to account for the macroscopic network wide mutual interference between the coexisting IoT devices. Discrete time Markov chains (DTMCs) are employed to track the microscopic evolution of packets within each priority stream at each device. To alleviate the curse of dimensionality, we decompose the prioritized queueing model at each device to a single-queue system with server vacation. To this end, the IoT network with PMT is modeled as spatially interacting vacation queues. Interactions between queues, in terms of the packet departure probabilities, occur due to mutual interference. Service vacations occur to lower priority packets to address higher priority packets. Based on the proposed model, dedicated and shared channel access strategies for different priority classes are presented and compared. The results show that shared access provides better performance when considering the transmission success probability, queues overflow probability and latency.
Approximate counting CSP seen from the other side
Venue: arXiv cs.CC 2020
Year: 2020

In this paper we study the complexity of counting Constraint Satisfaction Problems (CSPs) of the form #CSP($\mathcal{C}$,-), in which the goal is, given a relational structure $\mathbf{A}$ from a class $\mathcal{C}$ of structures and an arbitrary structure $\mathbf{B}$, to find the number of homomorphisms from $\mathbf{A}$ to $\mathbf{B}$. Flum and Grohe showed that #CSP($\mathcal{C}$,-) is solvable in polynomial time if $\mathcal{C}$ has bounded treewidth [FOCS'02]. Building on the work of Grohe [JACM'07] on decision CSPs, Dalmau and Jonsson then showed that, if $\mathcal{C}$ is a recursively enumerable class of relational structures of bounded arity, then assuming FPT $\neq$ #W[1], there are no other cases of #CSP($\mathcal{C}$,-) solvable exactly in polynomial time (or even fixed-parameter time) [TCS'04]. We show that, assuming FPT $\neq$ W[1] (under randomised parametrised reductions) and for $\mathcal{C}$ satisfying certain general conditions, #CSP($\mathcal{C}$,-) is not solvable even approximately for $\mathcal{C}$ of unbounded treewidth; that is, there is no fixed parameter tractable (and thus also not fully polynomial) randomised approximation scheme for #CSP($\mathcal{C}$,-). In particular, our condition generalises the case when $\mathcal{C}$ is closed under taking minors.
What Should/Do/Can LSTMs Learn When Parsing Auxiliary Verb Constructions?
Venue: arXiv cs.CL 2020
Year: 2020

There is a growing interest in investigating what neural NLP models learn about language. A prominent open question is the question of whether or not it is necessary to model hierarchical structure. We present a linguistic investigation of a neural parser adding insights to this question. We look at transitivity and agreement information of auxiliary verb constructions (AVCs) in comparison to finite main verbs (FMVs). This comparison is motivated by theoretical work in dependency grammar and in particular the work of Tesnière (1959) where AVCs and FMVs are both instances of a nucleus, the basic unit of syntax. An AVC is a dissociated nucleus, it consists of at least two words, and an FMV is its non-dissociated counterpart, consisting of exactly one word. We suggest that the representation of AVCs and FMVs should capture similar information. We use diagnostic classifiers to probe agreement and transitivity information in vectors learned by a transition-based neural parser in four typologically different languages. We find that the parser learns different information about AVCs and FMVs if only sequential models (BiLSTMs) are used in the architecture but similar information when a recursive layer is used. We find explanations for why this is the case by looking closely at how information is learned in the network and looking at what happens with different dependency representations of AVCs. We conclude that there may be benefits to using a recursive layer in dependency parsing and that we have not yet found the best way to integrate it in our parsers.
Temporally Coherent General Dynamic Scene Reconstruction
Venue: arXiv cs.CV 2020
Year: 2020

Existing techniques for dynamic scene reconstruction from multiple wide-baseline cameras primarily focus on reconstruction in controlled environments, with fixed calibrated cameras and strong prior constraints. This paper introduces a general approach to obtain a 4D representation of complex dynamic scenes from multi-view wide-baseline static or moving cameras without prior knowledge of the scene structure, appearance, or illumination. Contributions of the work are: An automatic method for initial coarse reconstruction to initialize joint estimation; Sparse-to-dense temporal correspondence integrated with joint multi-view segmentation and reconstruction to introduce temporal coherence; and a general robust approach for joint segmentation refinement and dense reconstruction of dynamic scenes by introducing shape constraint. Comparison with state-of-the-art approaches on a variety of complex indoor and outdoor scenes, demonstrates improved accuracy in both multi-view segmentation and dense reconstruction. This paper demonstrates unsupervised reconstruction of complete temporally coherent 4D scene models with improved non-rigid object segmentation and shape reconstruction and its application to free-viewpoint rendering and virtual reality.
Open Set Domain Adaptation: Theoretical Bound and Algorithm
Venue: arXiv cs.LG 2020
Year: 2020

The aim of unsupervised domain adaptation is to leverage the knowledge in a labeled (source) domain to improve a model's learning performance with an unlabeled (target) domain -- the basic strategy being to mitigate the effects of discrepancies between the two distributions. Most existing algorithms can only handle unsupervised closed set domain adaptation (UCSDA), i.e., where the source and target domains are assumed to share the same label set. In this paper, we target a more challenging but realistic setting: unsupervised open set domain adaptation (UOSDA), where the target domain has unknown classes that are not found in the source domain. This is the first study to provide a learning bound for open set domain adaptation, which we do by theoretically investigating the risk of the target classifier on unknown classes. The proposed learning bound has a special term, namely open set difference, which reflects the risk of the target classifier on unknown classes. Further, we present a novel and theoretically guided unsupervised algorithm for open set domain adaptation, called distribution alignment with ppen difference (DAOD), which is based on regularizing this open set difference bound. The experiments on several benchmark datasets show the superior performance of the proposed UOSDA method compared with the state-of-the-art methods in the literature.
Deep Reinforcement Learning for Autonomous Internet of Things: Model, Applications and Challenges
Venue: arXiv cs.LG 2020
Year: 2020

The Internet of Things (IoT) extends the Internet connectivity into billions of IoT devices around the world, where the IoT devices collect and share information to reflect status of the physical world. The Autonomous Control System (ACS), on the other hand, performs control functions on the physical systems without external intervention over an extended period of time. The integration of IoT and ACS results in a new concept - autonomous IoT (AIoT). The sensors collect information on the system status, based on which the intelligent agents in the IoT devices as well as the Edge/Fog/Cloud servers make control decisions for the actuators to react. In order to achieve autonomy, a promising method is for the intelligent agents to leverage the techniques in the field of artificial intelligence, especially reinforcement learning (RL) and deep reinforcement learning (DRL) for decision making. In this paper, we first provide a tutorial of DRL, and then propose a general model for the applications of RL/DRL in AIoT. Next, a comprehensive survey of the state-of-art research on DRL for AIoT is presented, where the existing works are classified and summarized under the umbrella of the proposed general DRL model. Finally, the challenges and open issues for future research are identified.
Sensor Aware Lidar Odometry
Venue: arXiv cs.CV 2020
Year: 2020

A lidar odometry method, integrating into the computation the knowledge about the physics of the sensor, is proposed. A model of measurement error enables higher precision in estimation of the point normal covariance. Adjacent laser beams are used in an outlier correspondence rejection scheme. The method is ranked in the KITTI's leaderboard with 1.37% positioning error. 3.67% is achieved in comparison with the LOAM method on the internal dataset.
Rapid trial-and-error learning with simulation supports flexible tool use and physical reasoning
Venue: arXiv cs.AI 2020
Year: 2020

Many animals, and an increasing number of artificial agents, display sophisticated capabilities to perceive and manipulate objects. But human beings remain distinctive in their capacity for flexible, creative tool use -- using objects in new ways to act on the world, achieve a goal, or solve a problem. To study this type of general physical problem solving, we introduce the Virtual Tools game. In this game, people solve a large range of challenging physical puzzles in just a handful of attempts. We propose that the flexibility of human physical problem solving rests on an ability to imagine the effects of hypothesized actions, while the efficiency of human search arises from rich action priors which are updated via observations of the world. We instantiate these components in the "Sample, Simulate, Update" (SSUP) model and show that it captures human performance across 30 levels of the Virtual Tools game. More broadly, this model provides a mechanism for explaining how people condense general physical knowledge into actionable, task-specific plans to achieve flexible and efficient physical problem-solving.
Bilinear Graph Networks for Visual Question Answering
Venue: arXiv cs.CV 2020
Year: 2020

This paper revisits the bilinear attention networks in the visual question answering task from a graph perspective. The classical bilinear attention networks build a bilinear attention map to extract the joint representation of words in the question and objects in the image but lack fully exploring the relationship between words for complex reasoning. In contrast, we develop bilinear graph networks to model the context of the joint embeddings of words and objects. Two kinds of graphs are investigated, namely image-graph and question-graph. The image-graph transfers features of the detected objects to their related query words, enabling the output nodes to have both semantic and factual information. The question-graph exchanges information between these output nodes from image-graph to amplify the implicit yet important relationship between objects. These two kinds of graphs cooperate with each other, and thus our resulting model can model the relationship and dependency between objects, which leads to the realization of multi-step reasoning. Experimental results on the VQA v2.0 validation dataset demonstrate the ability of our method to handle the complex questions. On the test-std set, our best single model achieves state-of-the-art performance, boosting the overall accuracy to 72.41%.
ChromaGAN: Adversarial Picture Colorization with Semantic Class Distribution
Venue: arXiv cs.CV 2020
Year: 2020

The colorization of grayscale images is an ill-posed problem, with multiple correct solutions. In this paper, we propose an adversarial learning colorization approach coupled with semantic information. A generative network is used to infer the chromaticity of a given grayscale image conditioned to semantic clues. This network is framed in an adversarial model that learns to colorize by incorporating perceptual and semantic understanding of color and class distributions. The model is trained via a fully self-supervised strategy. Qualitative and quantitative results show the capacity of the proposed method to colorize images in a realistic way achieving state-of-the-art results.
FALCON: An accurate real-time monitor for client-based mobile network data analytics
Venue: arXiv cs.NI 2020
Year: 2020

Network data analysis is the fundamental basis for the development of methods to increase service quality in mobile networks. This requires accurate data of the current load in the network. The control channel analysis is a way to monitor the resource allocations and the throughput of all active subscribers in a public mobile radio cell. Previous open-source approaches require either ideal radio conditions or long-term observations in order to obtain reliable data. Otherwise, the revealed information is polluted by spurious assignments with random content. In this paper, we present a new open-source instrument for Fast Analysis of LTE Control channels (FALCON), which combines a novel shortcut-decoding approach with the most reliable techniques known to us to reduce the aforementioned requirements significantly. Long-term field measurements reveal that FALCON reduces errors in average by three orders of magnitude compared to currently the best approach. FALCON allows observations at locations with interference and enables mobile applications with single short-term tracking of the local load situation. It is compatible with numerous software defined radios and can be used on standard computers for a reliable real-time analysis.
Improving User Specifications for Robot Behavior through Active Preference Learning: Framework and Evaluation
Venue: arXiv cs.RO 2020
Year: 2020

An important challenge in human-robot interaction (HRI) is enabling non-expert users to specify complex tasks for autonomous robots. Recently, active preference learning has been applied in HRI to interactively shape a robot's behavior. We study a framework where users specify constraints on allowable robot movements on a graphical interface, yielding a robot task specification. However, users may not be able to accurately assess the impact of such constraints on the performance of a robot. Thus, we revise the specification by iteratively presenting users with alternative solutions where some constraints might be violated, and learn about the importance of the constraints from the users' choices between these alternatives. We demonstrate our framework in a user study with a material transport task in an industrial facility. We show that nearly all users accept alternative solutions and thus obtain a revised specification through the learning process, and that the revision leads to a substantial improvement in robot performance. Further, the learning process reduces the variances between the specifications from different users and, thus, makes the specifications more similar. As a result, the users whose initial specifications had the largest impact on performance benefit the most from the interactive learning.
Enhancing Adversarial Example Transferability with an Intermediate Level Attack
Venue: arXiv cs.LG 2020
Year: 2020

Neural networks are vulnerable to adversarial examples, malicious inputs crafted to fool trained models. Adversarial examples often exhibit black-box transfer, meaning that adversarial examples for one model can fool another model. However, adversarial examples are typically overfit to exploit the particular architecture and feature representation of a source model, resulting in sub-optimal black-box transfer attacks to other target models. We introduce the Intermediate Level Attack (ILA), which attempts to fine-tune an existing adversarial example for greater black-box transferability by increasing its perturbation on a pre-specified layer of the source model, improving upon state-of-the-art methods. We show that we can select a layer of the source model to perturb without any knowledge of the target models while achieving high transferability. Additionally, we provide some explanatory insights regarding our method and the effect of optimizing for adversarial examples using intermediate feature maps. Our code is available at https://github.com/CUVL/Intermediate-Level-Attack.
The Good, the Bad and the Ugly: Augmenting a black-box model with expert knowledge
Venue: arXiv cs.LG 2020
Year: 2020

We address a non-unique parameter fitting problem in the context of material science. In particular, we propose to resolve ambiguities in parameter space by augmenting a black-box artificial neural network (ANN) model with two different levels of expert knowledge and benchmark them against a pure black-box model.
TuneNet: One-Shot Residual Tuning for System Identification and Sim-to-Real Robot Task Transfer
Venue: arXiv cs.RO 2020
Year: 2020

As researchers teach robots to perform more and more complex tasks, the need for realistic simulation environments is growing. Existing techniques for closing the reality gap by approximating real-world physics often require extensive real world data and/or thousands of simulation samples. This paper presents TuneNet, a new machine learning-based method to directly tune the parameters of one model to match another using an *iterative residual tuning* technique. TuneNet estimates the parameter difference between two models using a single observation from the target and minimal simulation, allowing rapid, accurate and sample-efficient parameter estimation. The system can be trained via supervised learning over an auto-generated simulated dataset. We show that TuneNet can perform system identification, even when the true parameter values lie well outside the distribution seen during training, and demonstrate that simulators tuned with TuneNet outperform existing techniques for predicting rigid body motion. Finally, we show that our method can estimate real-world parameter values, allowing a robot to perform sim-to-real task transfer on a dynamic manipulation task unseen during training. Code and videos are available online at http://bit.ly/2lf1bAw.
DEAM: Adaptive Momentum with Discriminative Weight for Stochastic Optimization
Venue: arXiv cs.LG 2020
Year: 2020

Optimization algorithms with momentum, e.g., (ADAM), have been widely used for building deep learning models due to the faster convergence rates compared with stochastic gradient descent (SGD). Momentum helps accelerate SGD in the relevant directions in parameter updating, which can minify the oscillations of parameters update route. However, there exist errors in some update steps in optimization algorithms with momentum like ADAM. The fixed momentum weight (e.g., β_1 in ADAM) will propagate errors in momentum computing. In this paper, we introduce a novel optimization algorithm, namely Discriminative wEight on Adaptive Momentum (DEAM). Instead of assigning the momentum term weight with a fixed hyperparameter, DEAM proposes to compute the momentum weight automatically based on the discriminative angle. In this way, DEAM involves fewer hyperparameters. DEAM also contains a novel backtrack term, which restricts redundant updates when the correction of the last step is needed. Extensive experiments demonstrate that DEAM can achieve a faster convergence rate than the existing optimization algorithms in training the deep learning models of both convex and non-convex situations.