OpenRaiser/Intern-Atlas huggingface dataset:
Fast and Efficient Locomotion via Learned Gait Transitions
Venue: arXiv cs.RO 2021
Year: 2021

We focus on the problem of developing energy efficient controllers for quadrupedal robots. Animals can actively switch gaits at different speeds to lower their energy consumption. In this paper, we devise a hierarchical learning framework, in which distinctive locomotion gaits and natural gait transitions emerge automatically with a simple reward of energy minimization. We use evolutionary strategies (ES) to train a high-level gait policy that specifies gait patterns of each foot, while the low-level convex MPC controller optimizes the motor commands so that the robot can walk at a desired velocity using that gait pattern. We test our learning framework on a quadruped robot and demonstrate automatic gait transitions, from walking to trotting and to fly-trotting, as the robot increases its speed. We show that the learned hierarchical controller consumes much less energy across a wide range of locomotion speed than baseline controllers.
2nd Workshop on Hybrid Development Approaches in Software Systems Development
Venue: arXiv cs.SE 2021
Year: 2021

Software and system development is complex and diverse, and a multitude of development approaches is used and combined with each other to address the manifold challenges companies face today. To study the current state of the practice and to build a sound understanding about the utility of different development approaches and their application to modern software system development, in 2016, we launched the HELENA initiative. This paper introduces the 2nd HELENA workshop and provides an overview of the current project state. In the workshop, six teams present initial findings from their regions, impulse talk are given, and further steps of the HELENA roadmap are discussed.
MobileStyleGAN: A Lightweight Convolutional Neural Network for High-Fidelity Image Synthesis
Venue: arXiv cs.CV 2021
Year: 2021

In recent years, the use of Generative Adversarial Networks (GANs) has become very popular in generative image modeling. While style-based GAN architectures yield state-of-the-art results in high-fidelity image synthesis, computationally, they are highly complex. In our work, we focus on the performance optimization of style-based generative models. We analyze the most computationally hard parts of StyleGAN2, and propose changes in the generator network to make it possible to deploy style-based generative networks in the edge devices. We introduce MobileStyleGAN architecture, which has x3.5 fewer parameters and is x9.5 less computationally complex than StyleGAN2, while providing comparable quality.
Boosted Embeddings for Time Series Forecasting
Venue: arXiv cs.LG 2021
Year: 2021

Time series forecasting is a fundamental task emerging from diverse data-driven applications. Many advanced autoregressive methods such as ARIMA were used to develop forecasting models. Recently, deep learning based methods such as DeepAr, NeuralProphet, Seq2Seq have been explored for time series forecasting problem. In this paper, we propose a novel time series forecast model, DeepGB. We formulate and implement a variant of Gradient boosting wherein the weak learners are DNNs whose weights are incrementally found in a greedy manner over iterations. In particular, we develop a new embedding architecture that improves the performance of many deep learning models on time series using Gradient boosting variant. We demonstrate that our model outperforms existing comparable state-of-the-art models using real-world sensor data and public dataset.
Smart Vectorizations for Single and Multiparameter Persistence
Venue: arXiv cs.LG 2021
Year: 2021

The machinery of topological data analysis becomes increasingly popular in a broad range of machine learning tasks, ranging from anomaly detection and manifold learning to graph classification. Persistent homology is one of the key approaches here, allowing us to systematically assess the evolution of various hidden patterns in the data as we vary a scale parameter. The extracted patterns, or homological features, along with information on how long such features persist throughout the considered filtration of a scale parameter, convey a critical insight into salient data characteristics and data organization. In this work, we introduce two new and easily interpretable topological summaries for single and multi-parameter persistence, namely, saw functions and multi-persistence grid functions, respectively. Compared to the existing topological summaries which tend to assess the numbers of topological features and/or their lifespans at a given filtration step, our proposed saw and multi-persistence grid functions allow us to explicitly account for essential complementary information such as the numbers of births and deaths at each filtration step. These new topological summaries can be regarded as the complexity measures of the evolving subspaces determined by the filtration and are of particular utility for applications of persistent homology on graphs. We derive theoretical guarantees on the stability of the new saw and multi-persistence grid functions and illustrate their applicability for graph classification tasks.
What Makes an Effective Scalarising Function for Multi-Objective Bayesian Optimisation?
Venue: arXiv cs.LG 2021
Year: 2021

Performing multi-objective Bayesian optimisation by scalarising the objectives avoids the computation of expensive multi-dimensional integral-based acquisition functions, instead of allowing one-dimensional standard acquisition functions\textemdash such as Expected Improvement\textemdash to be applied. Here, two infill criteria based on hypervolume improvement\textemdash one recently introduced and one novel\textemdash are compared with the multi-surrogate Expected Hypervolume Improvement. The reasons for the disparities in these methods' effectiveness in maximising the hypervolume of the acquired Pareto Front are investigated. In addition, the effect of the surrogate model mean function on exploration and exploitation is examined: careful choice of data normalisation is shown to be preferable to the exploration parameter commonly used with the Expected Improvement acquisition function. Finally, the effectiveness of all the methodological improvements defined here is demonstrated on a real-world problem: the optimisation of a wind turbine blade aerofoil for both aerodynamic performance and structural stiffness. With effective scalarisation, Bayesian optimisation finds a large number of new aerofoil shapes that strongly dominate standard designs.
FRAKE: Fusional Real-time Automatic Keyword Extraction
Venue: arXiv cs.CL 2021
Year: 2021

Keyword extraction is the process of identifying the words or phrases that express the main concepts of text to the best of one's ability. Electronic infrastructure creates a considerable amount of text every day and at all times. This massive volume of documents makes it practically impossible for human resources to study and manage them. Nevertheless, the need for these documents to be accessed efficiently and effectively is evident in numerous purposes. A blog, news article, or technical note is considered a relatively long text since the reader aims to learn the subject based on keywords or topics. Our approach consists of a combination of two models: graph centrality features and textural features. The proposed method has been used to extract the best keyword among the candidate keywords with an optimal combination of graph centralities, such as degree, betweenness, eigenvector, closeness centrality and etc, and textural, such as Casing, Term position, Term frequency normalization, Term different sentence, Part Of Speech tagging. There have also been attempts to distinguish keywords from candidate phrases and consider them on separate keywords. For evaluating the proposed method, seven datasets were used: Semeval2010, SemEval2017, Inspec, fao30, Thesis100, pak2018, and Wikinews, with results reported as Precision, Recall, and F- measure. Our proposed method performed much better in terms of evaluation metrics in all reviewed datasets compared with available methods in literature. An approximate 16.9% increase was witnessed in F-score metric and this was much more for the Inspec in English datasets and WikiNews in forgone languages.
CalQNet -- Detection of Calibration Quality for Life-Long Stereo Camera Setups
Venue: arXiv cs.RO 2021
Year: 2021

Many mobile robotic platforms rely on an accurate knowledge of the extrinsic calibration parameters, especially systems performing visual stereo matching. Although a number of accurate stereo camera calibration methods have been developed, which provide good initial "factory" calibrations, the determined parameters can lose their validity over time as the sensors are exposed to environmental conditions and external effects. Thus, on autonomous platforms on-board diagnostic methods for an early detection of the need to repeat calibration procedures have the potential to prevent critical failures of crucial systems, such as state estimation or obstacle detection. In this work, we present a novel data-driven method to estimate the calibration quality and detect discrepancies between the original calibration and the current system state for stereo camera systems. The framework consists of a novel dataset generation pipeline to train CalQNet, a deep convolutional neural network. CalQNet can estimate the calibration quality using a new metric that approximates the degree of miscalibration in stereo setups. We show the framework's ability to predict from a single stereo frame if a state-of-the-art stereo-visual odometry system will diverge due to a degraded calibration in two real-world experiments.
Designing Effective Interview Chatbots: Automatic Chatbot Profiling and Design Suggestion Generation for Chatbot Debugging
Venue: arXiv cs.HC 2021
Year: 2021

Recent studies show the effectiveness of interview chatbots for information elicitation. However, designing an effective interview chatbot is non-trivial. Few tools exist to help designers design, evaluate, and improve an interview chatbot iteratively. Based on a formative study and literature reviews, we propose a computational framework for quantifying the performance of interview chatbots. Incorporating the framework, we have developed iChatProfile, an assistive chatbot design tool that can automatically generate a profile of an interview chatbot with quantified performance metrics and offer design suggestions for improving the chatbot based on such metrics. To validate the effectiveness of iChatProfile, we designed and conducted a between-subject study that compared the performance of 10 interview chatbots designed with or without using iChatProfile. Based on the live chats between the 10 chatbots and 1349 users, our results show that iChatProfile helped the designers build significantly more effective interview chatbots, improving both interview quality and user experience.
Deep Weakly Supervised Positioning
Venue: arXiv cs.RO 2021
Year: 2021

PoseNet can map a photo to the position where it is taken, which is appealing in robotics. However, training PoseNet requires full supervision, where ground truth positions are non-trivial to obtain. Can we train PoseNet without knowing the ground truth positions for each observation? We show that this is possible via constraint-based weak-supervision, leading to the proposed framework: DeepGPS. Particularly, using wheel-encoder-estimated distances traveled by a robot along random straight line segments as constraints between PoseNet outputs, DeepGPS can achieve a relative positioning error of less than 2%. Moreover, training DeepGPS can be done as auto-calibration with almost no human attendance, which is more attractive than its competing methods that typically require careful and expert-level manual calibration. We conduct various experiments on simulated and real datasets to demonstrate the general applicability, effectiveness, and accuracy of DeepGPS, and perform a comprehensive analysis of its robustness. Our code is available at https://ai4ce.github.io/DeepGPS/.
NOMA for Next-generation Massive IoT: Performance Potential and Technology Directions
Venue: arXiv cs.IT 2021
Year: 2021

Broader applications of the Internet of Things (IoT) are expected in the forthcoming 6G system, although massive IoT is already a key scenario in 5G, predominantly relying on physical layer solutions inherited from 4G LTE and primarily using orthogonal multiple access (OMA). In 6G IoT, supporting a massive number of connections will be required for diverse services of the vertical sectors, prompting fundamental studies on how to improve the spectral efficiency of the system. One of the key enabling technologies is non-orthogonal multiple access (NOMA). This paper consists of two parts. In the first part, finite block length theory and the diversity order of multi-user systems will be used to show the significant potential of NOMA compared to traditional OMA. The supremacy of NOMA over OMA is particularly pronounced for asynchronous contention-based systems relying on imperfect link adaptation, which are commonly assumed for massive IoT systems. To approach these performance bounds, in the second part of the paper, several promising technology directions are proposed for 6G massive IoT, including linear spreading, joint spreading & modulation, multi-user channel coding in the context of various techniques for practical uncoordinated transmissions, cell-free operations, etc., from the perspective of NOMA.
Innovative Bert-based Reranking Language Models for Speech Recognition
Venue: arXiv cs.CL 2021
Year: 2021

More recently, Bidirectional Encoder Representations from Transformers (BERT) was proposed and has achieved impressive success on many natural language processing (NLP) tasks such as question answering and language understanding, due mainly to its effective pre-training then fine-tuning paradigm as well as strong local contextual modeling ability. In view of the above, this paper presents a novel instantiation of the BERT-based contextualized language models (LMs) for use in reranking of N-best hypotheses produced by automatic speech recognition (ASR). To this end, we frame N-best hypothesis reranking with BERT as a prediction problem, which aims to predict the oracle hypothesis that has the lowest word error rate (WER) given the N-best hypotheses (denoted by PBERT). In particular, we also explore to capitalize on task-specific global topic information in an unsupervised manner to assist PBERT in N-best hypothesis reranking (denoted by TPBERT). Extensive experiments conducted on the AMI benchmark corpus demonstrate the effectiveness and feasibility of our methods in comparison to the conventional autoregressive models like the recurrent neural network (RNN) and a recently proposed method that employed BERT to compute pseudo-log-likelihood (PLL) scores for N-best hypothesis reranking.
Zero-Shot Learning on 3D Point Cloud Objects and Beyond
Venue: arXiv cs.CV 2021
Year: 2021

Zero-shot learning, the task of learning to recognize new classes not seen during training, has received considerable attention in the case of 2D image classification. However, despite the increasing ubiquity of 3D sensors, the corresponding 3D point cloud classification problem has not been meaningfully explored and introduces new challenges. In this paper, we identify some of the challenges and apply 2D Zero-Shot Learning (ZSL) methods in the 3D domain to analyze the performance of existing models. Then, we propose a novel approach to address the issues specific to 3D ZSL. We first present an inductive ZSL process and then extend it to the transductive ZSL and Generalized ZSL (GZSL) settings for 3D point cloud classification. To this end, a novel loss function is developed that simultaneously aligns seen semantics with point cloud features and takes advantage of unlabeled test data to address some known issues (e.g., the problems of domain adaptation, hubness, and data bias). While designed for the particularities of 3D point cloud classification, the method is shown to also be applicable to the more common use-case of 2D image classification. An extensive set of experiments is carried out, establishing state-of-the-art for ZSL and GZSL on synthetic (ModelNet40, ModelNet10, McGill) and real (ScanObjectNN) 3D point cloud datasets.
Does syntax matter? A strong baseline for Aspect-based Sentiment Analysis with RoBERTa
Venue: arXiv cs.CL 2021
Year: 2021

Aspect-based Sentiment Analysis (ABSA), aiming at predicting the polarities for aspects, is a fine-grained task in the field of sentiment analysis. Previous work showed syntactic information, e.g. dependency trees, can effectively improve the ABSA performance. Recently, pre-trained models (PTMs) also have shown their effectiveness on ABSA. Therefore, the question naturally arises whether PTMs contain sufficient syntactic information for ABSA so that we can obtain a good ABSA model only based on PTMs. In this paper, we firstly compare the induced trees from PTMs and the dependency parsing trees on several popular models for the ABSA task, showing that the induced tree from fine-tuned RoBERTa (FT-RoBERTa) outperforms the parser-provided tree. The further analysis experiments reveal that the FT-RoBERTa Induced Tree is more sentiment-word-oriented and could benefit the ABSA task. The experiments also show that the pure RoBERTa-based model can outperform or approximate to the previous SOTA performances on six datasets across four languages since it implicitly incorporates the task-oriented syntactic information.
Saddlepoints in Unsupervised Least Squares
Venue: arXiv cs.LG 2021
Year: 2021

This paper sheds light on the risk landscape of unsupervised least squares in the context of deep auto-encoding neural nets. We formally establish an equivalence between unsupervised least squares and principal manifolds. This link provides insight into the risk landscape of auto--encoding under the mean squared error, in particular all non-trivial critical points are saddlepoints. Finding saddlepoints is in itself difficult, overcomplete auto-encoding poses the additional challenge that the saddlepoints are degenerate. Within this context we discuss regularization of auto-encoders, in particular bottleneck, denoising and contraction auto-encoding and propose a new optimization strategy that can be framed as particular form of contractive regularization.
Evaluation and Control of Opinion Polarization and Disagreement: A Review
Venue: arXiv cs.SI 2021
Year: 2021

With the recent advances of networking technology, connections among people are unprecedentedly enhanced. People with different ideologies and backgrounds interact with each other, and there may exist severe opinion polarization and disagreement in the social network. There have been a lot of reviews on modeling opinion formation. However, less attention has been paid to opinion polarization and disagreement. In this work, we review recent advances in opinion polarization and disagreement and pay attention to how they are evaluated and controlled. In literature, three metrics: polarization, disagreement, and polarization-disagreement index (PDI) are usually adopted, and there is a tradeoff between polarization and disagreement. Different strategies have been proposed in literature which can significantly control opinion polarization and disagreement based on these metrics. This review is of crucial importance to summarize works on opinion polarization and disagreement, and to the better understanding and control of them.
One Ring to Rule Them All: a simple solution to multi-view 3D-Reconstruction of shapes with unknown BRDF via a small Recurrent ResNet
Venue: arXiv cs.CV 2021
Year: 2021

This paper proposes a simple method which solves an open problem of multi-view 3D-Reconstruction for objects with unknown and generic surface materials, imaged by a freely moving camera and a freely moving point light source. The object can have arbitrary (e.g. non-Lambertian), spatially-varying (or everywhere different) surface reflectances (svBRDF). Our solution consists of two smallsized neural networks (dubbed the 'Shape-Net' and 'BRDFNet'), each having about 1,000 neurons, used to parameterize the unknown shape and unknown svBRDF, respectively. Key to our method is a special network design (namely, a ResNet with a global feedback or 'ring' connection), which has a provable guarantee for finding a valid diffeomorphic shape parameterization. Despite the underlying problem is highly non-convex hence impractical to solve by traditional optimization techniques, our method converges reliably to high quality solutions, even without initialization. Extensive experiments demonstrate the superiority of our method, and it naturally enables a wide range of special-effect applications including novel-view-synthesis, relighting, material retouching, and shape exchange without additional coding effort. We encourage the reader to view our demo video for better visualizations.
WEC: Deriving a Large-scale Cross-document Event Coreference dataset from Wikipedia
Venue: arXiv cs.CL 2021
Year: 2021

Cross-document event coreference resolution is a foundational task for NLP applications involving multi-text processing. However, existing corpora for this task are scarce and relatively small, while annotating only modest-size clusters of documents belonging to the same topic. To complement these resources and enhance future research, we present Wikipedia Event Coreference (WEC), an efficient methodology for gathering a large-scale dataset for cross-document event coreference from Wikipedia, where coreference links are not restricted within predefined topics. We apply this methodology to the English Wikipedia and extract our large-scale WEC-Eng dataset. Notably, our dataset creation method is generic and can be applied with relatively little effort to other Wikipedia languages. To set baseline results, we develop an algorithm that adapts components of state-of-the-art models for within-document coreference resolution to the cross-document setting. Our model is suitably efficient and outperforms previously published state-of-the-art results for the task.
NeMo Inverse Text Normalization: From Development To Production
Venue: arXiv cs.CL 2021
Year: 2021

Inverse text normalization (ITN) converts spoken-domain automatic speech recognition (ASR) output into written-domain text to improve the readability of the ASR output. Many state-of-the-art ITN systems use hand-written weighted finite-state transducer(WFST) grammars since this task has extremely low tolerance to unrecoverable errors. We introduce an open-source Python WFST-based library for ITN which enables a seamless path from development to production. We describe the specification of ITN grammar rules for English, but the library can be adapted for other languages. It can also be used for written-to-spoken text normalization. We evaluate the NeMo ITN library using a modified version of the Google Text normalization dataset.