OpenRaiser/Intern-Atlas huggingface dataset:
Analysis Of The Anytime MAPF Solvers Based On The Combination Of Conflict-Based Search (CBS) and Focal Search (FS)
Venue: arXiv cs.AI 2022
Year: 2022

Conflict-Based Search (CBS) is a widely used algorithm for solving multi-agent pathfinding (MAPF) problems optimally. The core idea of CBS is to run hierarchical search, when, on the high level the tree of solutions candidates is explored, and on the low-level an individual planning for a specific agent (subject to certain constraints) is carried out. To trade-off optimality for running time different variants of bounded sub-optimal CBS were designed, which alter both high- and low-level search routines of CBS. Moreover, anytime variant of CBS does exist that applies Focal Search (FS) to the high-level of CBS - Anytime BCBS. However, no comprehensive analysis of how well this algorithm performs compared to the naive one, when we simply re-invoke CBS with the decreased sub-optimality bound, was present. This work aims at filling this gap. Moreover, we present and evaluate another anytime version of CBS that uses FS on both levels of CBS. Empirically, we show that its behavior is principally different from the one demonstrated by Anytime BCBS. Finally, we compare both algorithms head-to-head and show that using Focal Search on both levels of CBS can be beneficial in a wide range of setups.
Deep Model Predictive Variable Impedance Control
Venue: arXiv cs.RO 2022
Year: 2022

The capability to adapt compliance by varying muscle stiffness is crucial for dexterous manipulation skills in humans. Incorporating compliance in robot motor control is crucial to performing real-world force interaction tasks with human-level dexterity. This work presents a Deep Model Predictive Variable Impedance Controller for compliant robotic manipulation which combines Variable Impedance Control with Model Predictive Control (MPC). A generalized Cartesian impedance model of a robot manipulator is learned using an exploration strategy maximizing the information gain. This model is used within an MPC framework to adapt the impedance parameters of a low-level variable impedance controller to achieve the desired compliance behavior for different manipulation tasks without any retraining or finetuning. The deep Model Predictive Variable Impedance Control approach is evaluated using a Franka Emika Panda robotic manipulator operating on different manipulation tasks in simulations and real experiments. The proposed approach was compared with model-free and model-based reinforcement approaches in variable impedance control for transferability between tasks and performance.
Personal Attribute Prediction from Conversations
Venue: arXiv cs.CL 2022
Year: 2022

Personal knowledge bases (PKBs) are critical to many applications, such as Web-based chatbots and personalized recommendation. Conversations containing rich personal knowledge can be regarded as a main source to populate the PKB. Given a user, a user attribute, and user utterances from a conversational system, we aim to predict the personal attribute value for the user, which is helpful for the enrichment of PKBs. However, there are three issues existing in previous studies: (1) manually labeled utterances are required for model training; (2) personal attribute knowledge embedded in both utterances and external resources is underutilized; (3) the performance on predicting some difficult personal attributes is unsatisfactory. In this paper, we propose a framework DSCGN based on the pre-trained language model with a noise-robust loss function to predict personal attributes from conversations without requiring any labeled utterances. We yield two categories of supervision, i.e., document-level supervision via a distant supervision strategy and contextualized word-level supervision via a label guessing method, by mining the personal attribute knowledge embedded in both unlabeled utterances and external resources to fine-tune the language model. Extensive experiments over two real-world data sets (i.e., a profession data set and a hobby data set) show our framework obtains the best performance compared with all the twelve baselines in terms of nDCG and MRR.
Scaling and compressing melodies using geometric similarity measures
Venue: arXiv cs.IR 2022
Year: 2022

Melodic similarity measurement is of key importance in music information retrieval. In this paper, we use geometric matching techniques to measure the similarity between two melodies. We represent music as sets of points or sets of horizontal line segments in the Euclidean plane and propose efficient algorithms for optimization problems inspired in two operations on melodies; linear scaling and audio compression. In the scaling problem, an incoming query melody is scaled forward until the similarity measure between the query and a reference melody is minimized. The compression problem asks for a subset of notes of a given melody such that the matching cost between the selected notes and the reference melody is minimized.
Detection of Malicious Websites Using Machine Learning Techniques
Venue: arXiv cs.CR 2022
Year: 2022

In detecting malicious websites, a common approach is the use of blacklists which are not exhaustive in themselves and are unable to generalize to new malicious sites. Detecting newly encountered malicious websites automatically will help reduce the vulnerability to this form of attack. In this study, we explored the use of ten machine learning models to classify malicious websites based on lexical features and understand how they generalize across datasets. Specifically, we trained, validated, and tested these models on different sets of datasets and then carried out a cross-datasets analysis. From our analysis, we found that K-Nearest Neighbor is the only model that performs consistently high across datasets. Other models such as Random Forest, Decision Trees, Logistic Regression, and Support Vector Machines also consistently outperform a baseline model of predicting every link as malicious across all metrics and datasets. Also, we found no evidence that any subset of lexical features generalizes across models or datasets. This research should be relevant to cybersecurity professionals and academic researchers as it could form the basis for real-life detection systems or further research work.
Active Particle Filter Networks: Efficient Active Localization in Continuous Action Spaces and Large Maps
Venue: arXiv cs.RO 2022
Year: 2022

Accurate localization is a critical requirement for most robotic tasks. The main body of existing work is focused on passive localization in which the motions of the robot are assumed given, abstracting from their influence on sampling informative observations. While recent work has shown the benefits of learning motions to disambiguate the robot's poses, these methods are restricted to granular discrete actions and directly depend on the size of the global map. We propose Active Particle Filter Networks (APFN), an approach that only relies on local information for both the likelihood evaluation as well as the decision making. To do so, we couple differentiable particle filters with a reinforcement learning agent that attends to the most relevant parts of the map. The resulting approach inherits the computational benefits of particle filters and can directly act in continuous action spaces while remaining fully differentiable and thereby end-to-end optimizable as well as agnostic to the input modality. We demonstrate the benefits of our approach with extensive experiments in photorealistic indoor environments built from real-world 3D scanned apartments. Videos and code are available at http://apfn.cs.uni-freiburg.de.
Safe Reinforcement Learning with Contrastive Risk Prediction
Venue: arXiv cs.AI 2022
Year: 2022

As safety violations can lead to severe consequences in real-world robotic applications, the increasing deployment of Reinforcement Learning (RL) in robotic domains has propelled the study of safe exploration for reinforcement learning (safe RL). In this work, we propose a risk preventive training method for safe RL, which learns a statistical contrastive classifier to predict the probability of a state-action pair leading to unsafe states. Based on the predicted risk probabilities, we can collect risk preventive trajectories and reshape the reward function with risk penalties to induce safe RL policies. We conduct experiments in robotic simulation environments. The results show the proposed approach has comparable performance with the state-of-the-art model-based methods and outperforms conventional model-free safe RL approaches.
Industrial Data Science for Batch Manufacturing Processes
Venue: arXiv cs.LG 2022
Year: 2022

Batch processes show several sources of variability, from raw materials' properties to initial and evolving conditions that change during the different events in the manufacturing process. In this chapter, we will illustrate with an industrial example how to use machine learning to reduce this apparent excess of data while maintaining the relevant information for process engineers. Two common use cases will be presented: 1) AutoML analysis to quickly find correlations in batch process data, and 2) trajectory analysis to monitor and identify anomalous batches leading to process control improvements.
Exact Matching and the Top-k Perfect Matching Problem
Venue: arXiv cs.DS 2022
Year: 2022

The aim of this note is to provide a reduction of the Exact Matching problem to the Top-$k$ Perfect Matching Problem. Together with earlier work by El Maalouly, this shows that the two problems are polynomial-time equivalent. The Exact Matching Problem is a well-known 40 years old problem for which a randomized, but no deterministic poly-time algorithm has been discovered. The Top-$k$ Perfect Matching Problem is the problem of finding a perfect matching which maximizes the total weight of the $k$ heaviest edges contained in it.
Autonomous Visual Navigation A Biologically Inspired Approach
Venue: arXiv cs.NE 2022
Year: 2022

Inspired by the navigational behavior observed in the animal kingdom and especially the navigational behavior of the ants, we attempt to simulate it in an artificial environment by implementing different kinds of biomimetic algorithms.
Documenting use cases in the affective computing domain using Unified Modeling Language
Venue: arXiv cs.SE 2022
Year: 2022

The study of the ethical impact of AI and the design of trustworthy systems needs the analysis of the scenarios where AI systems are used, which is related to the software engineering concept of "use case" and the "intended purpose" legal term. However, there is no standard methodology for use case documentation covering the context of use, scope, functional requirements and risks of an AI system. In this work, we propose a novel documentation methodology for AI use cases, with a special focus on the affective computing domain. Our approach builds upon an assessment of use case information needs documented in the research literature and the recently proposed European regulatory framework for AI. From this assessment, we adopt and adapt the Unified Modeling Language (UML), which has been used in the last two decades mostly by software engineers. Each use case is then represented by an UML diagram and a structured table, and we provide a set of examples illustrating its application to several affective computing scenarios.
Two Piggybacking Codes with Flexible Sub-Packetization to Achieve Lower Repair Bandwidth
Venue: arXiv cs.IT 2022
Year: 2022

As a special class of array codes, $(n,k,m)$ piggybacking codes are MDS codes (i.e., any $k$ out of $n$ nodes can retrieve all data symbols) that can achieve low repair bandwidth for single-node failure with low sub-packetization $m$. In this paper, we propose two new piggybacking codes that have lower repair bandwidth than the existing piggybacking codes given the same parameters. Our first piggybacking codes can support flexible sub-packetization $m$ with $2\leq m\leq n-k$, where $n - k > 3$. We show that our first piggybacking codes have lower repair bandwidth for any single-node failure than the existing piggybacking codes when $n - k = 8,9$, $m = 6$ and $30\leq k \leq 100$. Moreover, we propose second piggybacking codes such that the sub-packetization is a multiple of the number of parity nodes (i.e., $(n-k)|m$), by jointly designing the piggyback function for data node repair and transformation function for parity node repair. We show that the proposed second piggybacking codes have lowest repair bandwidth for any single-node failure among all the existing piggybacking codes for the evaluated parameters $k/n = 0.75, 0.8, 0.9$ and $n-k\geq 4$.
A Deep Reinforcement Learning-Based Charging Scheduling Approach with Augmented Lagrangian for Electric Vehicle
Venue: arXiv cs.AI 2022
Year: 2022

This paper addresses the problem of optimizing charging/discharging schedules of electric vehicles (EVs) when participate in demand response (DR). As there exist uncertainties in EVs' remaining energy, arrival and departure time, and future electricity prices, it is quite difficult to make charging decisions to minimize charging cost while guarantee that the EV's battery state-of-the-charge (SOC) is within certain range. To handle with this dilemma, this paper formulates the EV charging scheduling problem as a constrained Markov decision process (CMDP). By synergistically combining the augmented Lagrangian method and soft actor critic algorithm, a novel safe off-policy reinforcement learning (RL) approach is proposed in this paper to solve the CMDP. The actor network is updated in a policy gradient manner with the Lagrangian value function. A double-critics network is adopted to synchronously estimate the action-value function to avoid overestimation bias. The proposed algorithm does not require strong convexity guarantee of examined problems and is sample efficient. Comprehensive numerical experiments with real-world electricity price demonstrate that our proposed algorithm can achieve high solution optimality and constraints compliance.
Exploring Human-robot Interaction by Simulating Robots
Venue: arXiv cs.RO 2022
Year: 2022

As collaborative robots enter industrial shop floors, logistics, and manufacturing, rapid and flexible evaluation of human-machine interaction has become more important. The availability of consumer headsets for virtual and augmented realities has lowered the barrier of entry for virtual environments. In this paper, we explore the different aspects of using such environments for simulating robots in user studies and present the first findings from our own research work. Finally, we recommend directions for applying and using simulation in human-robot interaction.
Register Variation Remains Stable Across 60 Languages
Venue: arXiv cs.CL 2022
Year: 2022

This paper measures the stability of cross-linguistic register variation. A register is a variety of a language that is associated with extra-linguistic context. The relationship between a register and its context is functional: the linguistic features that make up a register are motivated by the needs and constraints of the communicative situation. This view hypothesizes that register should be universal, so that we expect a stable relationship between the extra-linguistic context that defines a register and the sets of linguistic features which the register contains. In this paper, the universality and robustness of register variation is tested by comparing variation within vs. between register-specific corpora in 60 languages using corpora produced in comparable communicative situations: tweets and Wikipedia articles. Our findings confirm the prediction that register variation is, in fact, universal.
Collisionless Pattern Discovery in Robot Swarms Using Deep Reinforcement Learning
Venue: arXiv cs.RO 2022
Year: 2022

We present a deep reinforcement learning-based framework for automatically discovering patterns available in any given initial configuration of fat robot swarms. In particular, we model the problem of collision-less gathering and mutual visibility in fat robot swarms and discover patterns for solving them using our framework. We show that by shaping reward signals based on certain constraints like mutual visibility and safe proximity, the robots can discover collision-less trajectories leading to well-formed gathering and visibility patterns.
Soft Action Priors: Towards Robust Policy Transfer
Venue: arXiv cs.LG 2022
Year: 2022

Despite success in many challenging problems, reinforcement learning (RL) is still confronted with sample inefficiency, which can be mitigated by introducing prior knowledge to agents. However, many transfer techniques in reinforcement learning make the limiting assumption that the teacher is an expert. In this paper, we use the action prior from the Reinforcement Learning as Inference framework - that is, a distribution over actions at each state which resembles a teacher policy, rather than a Bayesian prior - to recover state-of-the-art policy distillation techniques. Then, we propose a class of adaptive methods that can robustly exploit action priors by combining reward shaping and auxiliary regularization losses. In contrast to prior work, we develop algorithms for leveraging suboptimal action priors that may nevertheless impart valuable knowledge - which we call soft action priors. The proposed algorithms adapt by adjusting the strength of teacher feedback according to an estimate of the teacher's usefulness in each state. We perform tabular experiments, which show that the proposed methods achieve state-of-the-art performance, surpassing it when learning from suboptimal priors. Finally, we demonstrate the robustness of the adaptive algorithms in continuous action deep RL problems, in which adaptive algorithms considerably improved stability when compared to existing policy distillation methods.
Leveraging Local Patch Differences in Multi-Object Scenes for Generative Adversarial Attacks
Venue: arXiv cs.CV 2022
Year: 2022

State-of-the-art generative model-based attacks against image classifiers overwhelmingly focus on single-object (i.e., single dominant object) images. Different from such settings, we tackle a more practical problem of generating adversarial perturbations using multi-object (i.e., multiple dominant objects) images as they are representative of most real-world scenes. Our goal is to design an attack strategy that can learn from such natural scenes by leveraging the local patch differences that occur inherently in such images (e.g. difference between the local patch on the object `person' and the object `bike' in a traffic scene). Our key idea is to misclassify an adversarial multi-object image by confusing the victim classifier for each local patch in the image. Based on this, we propose a novel generative attack (called Local Patch Difference or LPD-Attack) where a novel contrastive loss function uses the aforesaid local differences in feature space of multi-object scenes to optimize the perturbation generator. Through various experiments across diverse victim convolutional neural networks, we show that our approach outperforms baseline generative attacks with highly transferable perturbations when evaluated under different white-box and black-box settings.
Deep-Steiner: Learning to Solve the Euclidean Steiner Tree Problem
Venue: arXiv cs.LG 2022
Year: 2022

The Euclidean Steiner tree problem seeks the min-cost network to connect a collection of target locations, and it underlies many applications of wireless networks. In this paper, we present a study on solving the Euclidean Steiner tree problem using reinforcement learning enhanced by graph representation learning. Different from the commonly studied connectivity problems like travelling salesman problem or vehicle routing problem where the search space is finite, the Euclidean Steiner tree problem requires to search over the entire Euclidean space, thereby making the existing methods not applicable. In this paper, we design discretization methods by leveraging the unique characteristics of the Steiner tree, and propose new training schemes for handling the dynamic Steiner points emerging during the incremental construction. Our design is examined through a sanity check using experiments on a collection of datasets, with encouraging results demonstrating the utility of our method as an alternative to classic combinatorial methods.
MARIO: Modular and Extensible Architecture for Computing Visual Statistics in RoboCup SPL
Venue: arXiv cs.CV 2022
Year: 2022

This technical report describes a modular and extensible architecture for computing visual statistics in RoboCup SPL (MARIO), presented during the SPL Open Research Challenge at RoboCup 2022, held in Bangkok (Thailand). MARIO is an open-source, ready-to-use software application whose final goal is to contribute to the growth of the RoboCup SPL community. MARIO comes with a GUI that integrates multiple machine learning and computer vision based functions, including automatic camera calibration, background subtraction, homography computation, player + ball tracking and localization, NAO robot pose estimation and fall detection. MARIO has been ranked no. 1 in the Open Research Challenge.
Fine-Grained VR Sketching: Dataset and Insights
Venue: arXiv cs.CV 2022
Year: 2022

We present the first fine-grained dataset of 1,497 3D VR sketch and 3D shape pairs of a chair category with large shapes diversity. Our dataset supports the recent trend in the sketch community on fine-grained data analysis, and extends it to an actively developing 3D domain. We argue for the most convenient sketching scenario where the sketch consists of sparse lines and does not require any sketching skills, prior training or time-consuming accurate drawing. We then, for the first time, study the scenario of fine-grained 3D VR sketch to 3D shape retrieval, as a novel VR sketching application and a proving ground to drive out generic insights to inform future research. By experimenting with carefully selected combinations of design factors on this new problem, we draw important conclusions to help follow-on work. We hope our dataset will enable other novel applications, especially those that require a fine-grained angle such as fine-grained 3D shape reconstruction. The dataset is available at tinyurl.com/VRSketch3DV21.
Sanity Check for External Clustering Validation Benchmarks using Internal Validation Measures
Venue: arXiv cs.LG 2022
Year: 2022

We address the lack of reliability in benchmarking clustering techniques based on labeled datasets. A standard scheme in external clustering validation is to use class labels as ground truth clusters, based on the assumption that each class forms a single, clearly separated cluster. However, as such cluster-label matching (CLM) assumption often breaks, the lack of conducting a sanity check for the CLM of benchmark datasets casts doubt on the validity of external validations. Still, evaluating the degree of CLM is challenging. For example, internal clustering validation measures can be used to quantify CLM within the same dataset to evaluate its different clusterings but are not designed to compare clusterings of different datasets. In this work, we propose a principled way to generate between-dataset internal measures that enable the comparison of CLM across datasets. We first determine four axioms for between-dataset internal measures, complementing Ackerman and Ben-David's within-dataset axioms. We then propose processes to generalize internal measures to fulfill these new axioms, and use them to extend the widely used Calinski-Harabasz index for between-dataset CLM evaluation. Through quantitative experiments, we (1) verify the validity and necessity of the generalization processes and (2) show that the proposed between-dataset Calinski-Harabasz index accurately evaluates CLM across datasets. Finally, we demonstrate the importance of evaluating CLM of benchmark datasets before conducting external validation.