OpenRaiser/Intern-Atlas huggingface dataset:
Moving Virtual Agents Forward in Space and Time
Venue: arXiv cs.MA 2022
Year: 2022

This article proposes an adaptation from the model of Bianco for fast-forwarding agents in crowd simulation, which enables us to accurately fast forward agents in time. Besides being able to jump from one position to another, agents are able to stay inside their track, it means, the new position is calculated taking into account the original global path the agent would follow, if not being fast-forwarded. Obstacles and other agents around are also taken into account when calculating the new position. In addition, we included a personality aspect on agents, which affect their behaviors and, also, be taken into account when jumping to a future time and space. We conducted some experiments to validate our model, which shows that it was able to indeed fast forward agents from a position to another, in a coherent time, sticking to a given global path while avoiding collisions. Finally, we present a use case, showing that our method can fit inside a "Fog of War" system.
Real-World Robot Learning with Masked Visual Pre-training
Venue: arXiv cs.RO 2022
Year: 2022

In this work, we explore self-supervised visual pre-training on images from diverse, in-the-wild videos for real-world robotic tasks. Like prior work, our visual representations are pre-trained via a masked autoencoder (MAE), frozen, and then passed into a learnable control module. Unlike prior work, we show that the pre-trained representations are effective across a range of real-world robotic tasks and embodiments. We find that our encoder consistently outperforms CLIP (up to 75%), supervised ImageNet pre-training (up to 81%), and training from scratch (up to 81%). Finally, we train a 307M parameter vision transformer on a massive collection of 4.5M images from the Internet and egocentric videos, and demonstrate clearly the benefits of scaling visual pre-training for robot learning.
Evaluating k-NN in the Classification of Data Streams with Concept Drift
Venue: arXiv cs.LG 2022
Year: 2022

Data streams are often defined as large amounts of data flowing continuously at high speed. Moreover, these data are likely subject to changes in data distribution, known as concept drift. Given all the reasons mentioned above, learning from streams is often online and under restrictions of memory consumption and run-time. Although many classification algorithms exist, most of the works published in the area use Naive Bayes (NB) and Hoeffding Trees (HT) as base learners in their experiments. This article proposes an in-depth evaluation of k-Nearest Neighbors (k-NN) as a candidate for classifying data streams subjected to concept drift. It also analyses the complexity in time and the two main parameters of k-NN, i.e., the number of nearest neighbors used for predictions (k), and window size (w). We compare different parameter values for k-NN and contrast it to NB and HT both with and without a drift detector (RDDM) in many datasets. We formulated and answered 10 research questions which led to the conclusion that k-NN is a worthy candidate for data stream classification, especially when the run-time constraint is not too restrictive.
Deep Inventory Management
Venue: arXiv cs.LG 2022
Year: 2022

This work provides a Deep Reinforcement Learning approach to solving a periodic review inventory control system with stochastic vendor lead times, lost sales, correlated demand, and price matching. While this dynamic program has historically been considered intractable, our results show that several policy learning approaches are competitive with or outperform classical methods. In order to train these algorithms, we develop novel techniques to convert historical data into a simulator. On the theoretical side, we present learnability results on a subclass of inventory control problems, where we provide a provable reduction of the reinforcement learning problem to that of supervised learning. On the algorithmic side, we present a model-based reinforcement learning procedure (Direct Backprop) to solve the periodic review inventory control problem by constructing a differentiable simulator. Under a variety of metrics Direct Backprop outperforms model-free RL and newsvendor baselines, in both simulations and real-world deployments.
Neural Volumetric Mesh Generator
Venue: arXiv cs.CV 2022
Year: 2022

Deep generative models have shown success in generating 3D shapes with different representations. In this work, we propose Neural Volumetric Mesh Generator(NVMG) which can generate novel and high-quality volumetric meshes. Unlike the previous 3D generative model for point cloud, voxel, and implicit surface, the volumetric mesh representation is a ready-to-use representation in industry with details on both the surface and interior. Generating this such highly-structured data thus brings a significant challenge. We first propose a diffusion-based generative model to tackle this problem by generating voxelized shapes with close-to-reality outlines and structures. We can simply obtain a tetrahedral mesh as a template with the voxelized shape. Further, we use a voxel-conditional neural network to predict the smooth implicit surface conditioned on the voxels, and progressively project the tetrahedral mesh to the predicted surface under regularizations. The regularization terms are carefully designed so that they can (1) get rid of the defects like flipping and high distortion; (2) force the regularity of the interior and surface structure during the deformation procedure for a high-quality final mesh. As shown in the experiments, our pipeline can generate high-quality artifact-free volumetric and surface meshes from random noise or a reference image without any post-processing. Compared with the state-of-the-art voxel-to-mesh deformation method, we show more robustness and better performance when taking generated voxels as input.
Enabling Deep Learning on Edge Devices
Venue: arXiv cs.LG 2022
Year: 2022

Deep neural networks (DNNs) have succeeded in many different perception tasks, e.g., computer vision, natural language processing, reinforcement learning, etc. The high-performed DNNs heavily rely on intensive resource consumption. For example, training a DNN requires high dynamic memory, a large-scale dataset, and a large number of computations (a long training time); even inference with a DNN also demands a large amount of static storage, computations (a long inference time), and energy. Therefore, state-of-the-art DNNs are often deployed on a cloud server with a large number of super-computers, a high-bandwidth communication bus, a shared storage infrastructure, and a high power supplement. Recently, some new emerging intelligent applications, e.g., AR/VR, mobile assistants, Internet of Things, require us to deploy DNNs on resource-constrained edge devices. Compare to a cloud server, edge devices often have a rather small amount of resources. To deploy DNNs on edge devices, we need to reduce the size of DNNs, i.e., we target a better trade-off between resource consumption and model accuracy. In this dissertation, we studied four edge intelligence scenarios, i.e., Inference on Edge Devices, Adaptation on Edge Devices, Learning on Edge Devices, and Edge-Server Systems, and developed different methodologies to enable deep learning in each scenario. Since current DNNs are often over-parameterized, our goal is to find and reduce the redundancy of the DNNs in each scenario.
LazyFox: Fast and parallelized overlapping community detection in large graphs
Venue: arXiv cs.SI 2022
Year: 2022

The detection of communities in graph datasets provides insight about a graph's underlying structure and is an important tool for various domains such as social sciences, marketing, traffic forecast, and drug discovery. While most existing algorithms provide fast approaches for community detection, their results usually contain strictly separated communities. However, most datasets would semantically allow for or even require overlapping communities that can only be determined at much higher computational cost. We build on an efficient algorithm, Fox, that detects such overlapping communities. Fox measures the closeness of a node to a community by approximating the count of triangles which that node forms with that community. We propose LazyFox, a multi-threaded version of the Fox algorithm, which provides even faster detection without an impact on community quality. This allows for the analyses of significantly larger and more complex datasets. LazyFox enables overlapping community detection on complex graph datasets with millions of nodes and billions of edges in days instead of weeks. As part of this work, LazyFox's implementation was published and is available as a tool under an MIT licence at https://github.com/TimGarrels/LazyFox.
Unsupervised Domain Adaptation for COVID-19 Information Service with Contrastive Adversarial Domain Mixup
Venue: arXiv cs.CL 2022
Year: 2022

In the real-world application of COVID-19 misinformation detection, a fundamental challenge is the lack of the labeled COVID data to enable supervised end-to-end training of the models, especially at the early stage of the pandemic. To address this challenge, we propose an unsupervised domain adaptation framework using contrastive learning and adversarial domain mixup to transfer the knowledge from an existing source data domain to the target COVID-19 data domain. In particular, to bridge the gap between the source domain and the target domain, our method reduces a radial basis function (RBF) based discrepancy between these two domains. Moreover, we leverage the power of domain adversarial examples to establish an intermediate domain mixup, where the latent representations of the input text from both domains could be mixed during the training process. Extensive experiments on multiple real-world datasets suggest that our method can effectively adapt misinformation detection systems to the unseen COVID-19 target domain with significant improvements compared to the state-of-the-art baselines.
Adversarial Lagrangian Integrated Contrastive Embedding for Limited Size Datasets
Venue: arXiv cs.CV 2022
Year: 2022

Certain datasets contain a limited number of samples with highly various styles and complex structures. This study presents a novel adversarial Lagrangian integrated contrastive embedding (ALICE) method for small-sized datasets. First, the accuracy improvement and training convergence of the proposed pre-trained adversarial transfer are shown on various subsets of datasets with few samples. Second, a novel adversarial integrated contrastive model using various augmentation techniques is investigated. The proposed structure considers the input samples with different appearances and generates a superior representation with adversarial transfer contrastive training. Finally, multi-objective augmented Lagrangian multipliers encourage the low-rank and sparsity of the presented adversarial contrastive embedding to adaptively estimate the coefficients of the regularizers automatically to the optimum weights. The sparsity constraint suppresses less representative elements in the feature space. The low-rank constraint eliminates trivial and redundant components and enables superior generalization. The performance of the proposed model is verified by conducting ablation studies by using benchmark datasets for scenarios with small data samples.
Achieving and Understanding Out-of-Distribution Generalization in Systematic Reasoning in Small-Scale Transformers
Venue: arXiv cs.LG 2022
Year: 2022

Out-of-distribution generalization (OODG) is a longstanding challenge for neural networks. This challenge is quite apparent in tasks with well-defined variables and rules, where explicit use of the rules could solve problems independently of the particular values of the variables, but networks tend to be tied to the range of values sampled in their training data. Large transformer-based language models have pushed the boundaries on how well neural networks can solve previously unseen problems, but their complexity and lack of clarity about the relevant content in their training data obfuscates how they achieve such robustness. As a step toward understanding how transformer-based systems generalize, we explore the question of OODG in small scale transformers trained with examples from a known distribution. Using a reasoning task based on the puzzle Sudoku, we show that OODG can occur on a complex problem if the training set includes examples sampled from the whole distribution of simpler component tasks. Successful generalization depends on carefully managing positional alignment when absolute position encoding is used, but we find that suppressing sensitivity to absolute positions overcomes this limitation. Taken together our results represent a small step toward understanding and promoting systematic generalization in transformers.
Perspectives on a 6G Architecture
Venue: arXiv cs.NI 2022
Year: 2022

Mobile communications have been undergoing a generational change every ten years. Whilst we are just beginning to roll out 5G networks, significant efforts are planned to standardize 6G that is expected to be commercially introduced by 2030. This paper looks at the use cases for 6G and their impact on the network architecture to meet the anticipated performance requirements. The new architecture is based on integrating various network functions in virtual cloud environments, leveraging the advancement of artificial intelligence in all domains, integrating different sub-networks constituting the 6G system, and on enhanced means of exposing data and services to third parties.
A Keypoint Based Enhancement Method for Audio Driven Free View Talking Head Synthesis
Venue: arXiv cs.CV 2022
Year: 2022

Audio driven talking head synthesis is a challenging task that attracts increasing attention in recent years. Although existing methods based on 2D landmarks or 3D face models can synthesize accurate lip synchronization and rhythmic head pose for arbitrary identity, they still have limitations, such as the cut feeling in the mouth mapping and the lack of skin highlights. The morphed region is blurry compared to the surrounding face. A Keypoint Based Enhancement (KPBE) method is proposed for audio driven free view talking head synthesis to improve the naturalness of the generated video. Firstly, existing methods were used as the backend to synthesize intermediate results. Then we used keypoint decomposition to extract video synthesis controlling parameters from the backend output and the source image. After that, the controlling parameters were composited to the source keypoints and the driving keypoints. A motion field based method was used to generate the final image from the keypoint representation. With keypoint representation, we overcame the cut feeling in the mouth mapping and the lack of skin highlights. Experiments show that our proposed enhancement method improved the quality of talking-head videos in terms of mean opinion score.
The Ethical Risks of Analyzing Crisis Events on Social Media with Machine Learning
Venue: arXiv cs.LG 2022
Year: 2022

Social media platforms provide a continuous stream of real-time news regarding crisis events on a global scale. Several machine learning methods utilize the crowd-sourced data for the automated detection of crises and the characterization of their precursors and aftermaths. Early detection and localization of crisis-related events can help save lives and economies. Yet, the applied automation methods introduce ethical risks worthy of investigation - especially given their high-stakes societal context. This work identifies and critically examines ethical risk factors of social media analyses of crisis events focusing on machine learning methods. We aim to sensitize researchers and practitioners to the ethical pitfalls and promote fairer and more reliable designs.
Computational imaging with the human brain
Venue: arXiv cs.CV 2022
Year: 2022

Brain-computer interfaces (BCIs) are enabling a range of new possibilities and routes for augmenting human capability. Here, we propose BCIs as a route towards forms of computation, i.e. computational imaging, that blend the brain with external silicon processing. We demonstrate ghost imaging of a hidden scene using the human visual system that is combined with an adaptive computational imaging scheme. This is achieved through a projection pattern `carving' technique that relies on real-time feedback from the brain to modify patterns at the light projector, thus enabling more efficient and higher resolution imaging. This brain-computer connectivity demonstrates a form of augmented human computation that could in the future extend the sensing range of human vision and provide new approaches to the study of the neurophysics of human perception. As an example, we illustrate a simple experiment whereby image reconstruction quality is affected by simultaneous conscious processing and readout of the perceived light intensities.
Quantifying Political Bias in News Articles
Venue: arXiv cs.IR 2022
Year: 2022

Search bias analysis is getting more attention in recent years since search results could affect In this work, we aim to establish an automated model for evaluating ideological bias in online news articles. The dataset is composed of news articles in search results as well as the newspaper articles. The current automated model results show that model capability is not sufficient to be exploited for annotating the documents automatically, thereby computing bias in search results.
SpaceQA: Answering Questions about the Design of Space Missions and Space Craft Concepts
Venue: arXiv cs.CL 2022
Year: 2022

We present SpaceQA, to the best of our knowledge the first open-domain QA system in Space mission design. SpaceQA is part of an initiative by the European Space Agency (ESA) to facilitate the access, sharing and reuse of information about Space mission design within the agency and with the public. We adopt a state-of-the-art architecture consisting of a dense retriever and a neural reader and opt for an approach based on transfer learning rather than fine-tuning due to the lack of domain-specific annotated data. Our evaluation on a test set produced by ESA is largely consistent with the results originally reported by the evaluated retrievers and confirms the need of fine tuning for reading comprehension. As of writing this paper, ESA is piloting SpaceQA internally.
Generating Quizzes to Support Training on Quality Management and Assurance in Space Science and Engineering
Venue: arXiv cs.CL 2022
Year: 2022

Quality management and assurance is key for space agencies to guarantee the success of space missions, which are high-risk and extremely costly. In this paper, we present a system to generate quizzes, a common resource to evaluate the effectiveness of training sessions, from documents about quality assurance procedures in the Space domain. Our system leverages state of the art auto-regressive models like T5 and BART to generate questions, and a RoBERTa model to extract answers for such questions, thus verifying their suitability.
PS-ARM: An End-to-End Attention-aware Relation Mixer Network for Person Search
Venue: arXiv cs.CV 2022
Year: 2022

Person search is a challenging problem with various real-world applications, that aims at joint person detection and re-identification of a query person from uncropped gallery images. Although, the previous study focuses on rich feature information learning, it is still hard to retrieve the query person due to the occurrence of appearance deformations and background distractors. In this paper, we propose a novel attention-aware relation mixer (ARM) module for person search, which exploits the global relation between different local regions within RoI of a person and make it robust against various appearance deformations and occlusion. The proposed ARM is composed of a relation mixer block and a spatio-channel attention layer. The relation mixer block introduces a spatially attended spatial mixing and a channel-wise attended channel mixing for effectively capturing discriminative relation features within an RoI. These discriminative relation features are further enriched by introducing a spatio-channel attention where the foreground and background discriminability is empowered in a joint spatio-channel space. Our ARM module is generic and it does not rely on fine-grained supervision or topological assumptions, hence being easily integrated into any Faster R-CNN based person search methods. Comprehensive experiments are performed on two challenging benchmark datasets: CUHKSYSU and PRW. Our PS-ARM achieves state-of-the-art performance on both datasets. On the challenging PRW dataset, our PS-ARM achieves an absolute gain of 5 in the mAP score over SeqNet, while operating at a comparable speed.
Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control
Venue: arXiv cs.RO 2022
Year: 2022

Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing, to drive the object to the desired location. In this paper, we present a novel hierarchical model predictive control (MPC) for contact optimization of the manipulation task. Using two cascading MPCs, we split the loco-manipulation problem into two parts: the first to optimize both contact force and contact location between the robot and the object, and the second to regulate the desired interaction force through the robot locomotion. Our method is successfully validated in both simulation and hardware experiments. While the baseline locomotion MPC fails to follow the desired trajectory of the object, our proposed approach can effectively control both object's position and orientation with minimal tracking error. This capability also allows us to perform obstacle avoidance for both the robot and the object during the loco-manipulation task.
Neighbor Regularized Bayesian Optimization for Hyperparameter Optimization
Venue: arXiv cs.CV 2022
Year: 2022

Bayesian Optimization (BO) is a common solution to search optimal hyperparameters based on sample observations of a machine learning model. Existing BO algorithms could converge slowly even collapse when the potential observation noise misdirects the optimization. In this paper, we propose a novel BO algorithm called Neighbor Regularized Bayesian Optimization (NRBO) to solve the problem. We first propose a neighbor-based regularization to smooth each sample observation, which could reduce the observation noise efficiently without any extra training cost. Since the neighbor regularization highly depends on the sample density of a neighbor area, we further design a density-based acquisition function to adjust the acquisition reward and obtain more stable statistics. In addition, we design a adjustment mechanism to ensure the framework maintains a reasonable regularization strength and density reward conditioned on remaining computation resources. We conduct experiments on the bayesmark benchmark and important computer vision benchmarks such as ImageNet and COCO. Extensive experiments demonstrate the effectiveness of NRBO and it consistently outperforms other state-of-the-art methods.