OpenRaiser/Intern-Atlas huggingface dataset:
A Transformer Based Pitch Sequence Autoencoder with MIDI Augmentation
Venue: arXiv cs.SD 2021
Year: 2021

Despite recent achievements of deep learning automatic music generation algorithms, few approaches have been proposed to evaluate whether a single-track music excerpt is composed by automatons or Homo sapiens. To tackle this problem, we apply a masked language model based on ALBERT for composers classification. The aim is to obtain a model that can suggest the probability a MIDI clip might be composed condition on the auto-generation hypothesis, and which is trained with only AI-composed single-track MIDI. In this paper, the amount of parameters is reduced, two methods on data augmentation are proposed as well as a refined loss function to prevent overfitting. The experiment results show our model ranks $3^{rd}$ in all the $7$ teams in the data challenge in CSMT(2020). Furthermore, this inspiring method could be spread to other music information retrieval tasks that are based on a small dataset.
Adaptive and Universal Algorithms for Variational Inequalities with Optimal Convergence
Venue: arXiv cs.LG 2021
Year: 2021

We develop new adaptive algorithms for variational inequalities with monotone operators, which capture many problems of interest, notably convex optimization and convex-concave saddle point problems. Our algorithms automatically adapt to unknown problem parameters such as the smoothness and the norm of the operator, and the variance of the stochastic evaluation oracle. We show that our algorithms are universal and simultaneously achieve the optimal convergence rates in the non-smooth, smooth, and stochastic settings. The convergence guarantees of our algorithms improve over existing adaptive methods by a $Ω(\sqrt{\ln T})$ factor, matching the optimal non-adaptive algorithms. Additionally, prior works require that the optimization domain is bounded. In this work, we remove this restriction and give algorithms for unbounded domains that are adaptive and universal. Our general proof techniques can be used for many variants of the algorithm using one or two operator evaluations per iteration. The classical methods based on the ExtraGradient/MirrorProx algorithm require two operator evaluations per iteration, which is the dominant factor in the running time in many settings.
Constrained Model-based Reinforcement Learning with Robust Cross-Entropy Method
Venue: arXiv cs.AI 2021
Year: 2021

This paper studies the constrained/safe reinforcement learning (RL) problem with sparse indicator signals for constraint violations. We propose a model-based approach to enable RL agents to effectively explore the environment with unknown system dynamics and environment constraints given a significantly small number of violation budgets. We employ the neural network ensemble model to estimate the prediction uncertainty and use model predictive control as the basic control framework. We propose the robust cross-entropy method to optimize the control sequence considering the model uncertainty and constraints. We evaluate our methods in the Safety Gym environment. The results show that our approach learns to complete the tasks with a much smaller number of constraint violations than state-of-the-art baselines. Additionally, we are able to achieve several orders of magnitude better sample efficiency when compared with constrained model-free RL approaches. The code is available at \url{https://github.com/liuzuxin/safe-mbrl}.
Empirical Study of Transformers for Source Code
Venue: arXiv cs.LG 2021
Year: 2021

Initially developed for natural language processing (NLP), Transformers are now widely used for source code processing, due to the format similarity between source code and text. In contrast to natural language, source code is strictly structured, i.e., it follows the syntax of the programming language. Several recent works develop Transformer modifications for capturing syntactic information in source code. The drawback of these works is that they do not compare to each other and consider different tasks. In this work, we conduct a thorough empirical study of the capabilities of Transformers to utilize syntactic information in different tasks. We consider three tasks (code completion, function naming and bug fixing) and re-implement different syntax-capturing modifications in a unified framework. We show that Transformers are able to make meaningful predictions based purely on syntactic information and underline the best practices of taking the syntactic information into account for improving the performance of the model.
Orbital MCMC
Venue: arXiv cs.LG 2021
Year: 2021

Markov Chain Monte Carlo (MCMC) algorithms ubiquitously employ complex deterministic transformations to generate proposal points that are then filtered by the Metropolis-Hastings-Green (MHG) test. However, the condition of the target measure invariance puts restrictions on the design of these transformations. In this paper, we first derive the acceptance test for the stochastic Markov kernel considering arbitrary deterministic maps as proposal generators. When applied to the transformations with orbits of period two (involutions), the test reduces to the MHG test. Based on the derived test we propose two practical algorithms: one operates by constructing periodic orbits from any diffeomorphism, another on contractions of the state space (such as optimization trajectories). Finally, we perform an empirical study demonstrating the practical advantages of both kernels.
APF-PF: Probabilistic Depth Perception for 3D Reactive Obstacle Avoidance
Venue: arXiv cs.RO 2021
Year: 2021

This paper proposes a framework for 3D obstacle avoidance in the presence of partial observability of environment obstacles. The method focuses on the utility of the Artificial Potential Function (APF) controller in a practical setting where noisy and incomplete information about the proximity is inevitable. We propose a Particle Filter (PF) approach to estimate potential obstacle locations in an input depth image stream. The probable candidates are then used to generate an action that maneuvers the robot towards the negative gradient of potential at each time instant. Rigorous experimental validation on a quadrotor UAV highlights the robustness and reliability of the method when robot's sensitivity to incorrect perception information can be concerning. The proposed perception and control stack is run onboard the UAV, demonstrating the computational feasibility for real-time applications and agile robots.
Uncertainty-aware Contact-safe Model-based Reinforcement Learning
Venue: arXiv cs.RO 2021
Year: 2021

This letter presents contact-safe Model-based Reinforcement Learning (MBRL) for robot applications that achieves contact-safe behaviors in the learning process. In typical MBRL, we cannot expect the data-driven model to generate accurate and reliable policies to the intended robotic tasks during the learning process due to sample scarcity. Operating these unreliable policies in a contact-rich environment could cause damage to the robot and its surroundings. To alleviate the risk of causing damage through unexpected intensive physical contacts, we present the contact-safe MBRL that associates the probabilistic Model Predictive Control's (pMPC) control limits with the model uncertainty so that the allowed acceleration of controlled behavior is adjusted according to learning progress. Control planning with such uncertainty-aware control limits is formulated as a deterministic MPC problem using a computation-efficient approximated GP dynamics and an approximated inference technique. Our approach's effectiveness is evaluated through bowl mixing tasks with simulated and real robots, scooping tasks with a real robot as examples of contact-rich manipulation skills. (video: https://youtu.be/sdhHP3NhYi0)
PRIMAL2: Pathfinding via Reinforcement and Imitation Multi-Agent Learning -- Lifelong
Venue: arXiv cs.RO 2021
Year: 2021

Multi-agent path finding (MAPF) is an indispensable component of large-scale robot deployments in numerous domains ranging from airport management to warehouse automation. In particular, this work addresses lifelong MAPF (LMAPF) - an online variant of the problem where agents are immediately assigned a new goal upon reaching their current one - in dense and highly structured environments, typical of real-world warehouse operations. Effectively solving LMAPF in such environments requires expensive coordination between agents as well as frequent replanning abilities, a daunting task for existing coupled and decoupled approaches alike. With the purpose of achieving considerable agent coordination without any compromise on reactivity and scalability, we introduce PRIMAL2, a distributed reinforcement learning framework for LMAPF where agents learn fully decentralized policies to reactively plan paths online in a partially observable world. We extend our previous work, which was effective in low-density sparsely occupied worlds, to highly structured and constrained worlds by identifying behaviors and conventions which improve implicit agent coordination, and enable their learning through the construction of a novel local agent observation and various training aids. We present extensive results of PRIMAL2 in both MAPF and LMAPF environments and compare its performance to state-of-the-art planners in terms of makespan and throughput. We show that PRIMAL2 significantly surpasses our previous work and performs comparably to these baselines, while allowing real-time re-planning and scaling up to 2048 agents.
Augmented SBERT: Data Augmentation Method for Improving Bi-Encoders for Pairwise Sentence Scoring Tasks
Venue: arXiv cs.CL 2021
Year: 2021

There are two approaches for pairwise sentence scoring: Cross-encoders, which perform full-attention over the input pair, and Bi-encoders, which map each input independently to a dense vector space. While cross-encoders often achieve higher performance, they are too slow for many practical use cases. Bi-encoders, on the other hand, require substantial training data and fine-tuning over the target task to achieve competitive performance. We present a simple yet efficient data augmentation strategy called Augmented SBERT, where we use the cross-encoder to label a larger set of input pairs to augment the training data for the bi-encoder. We show that, in this process, selecting the sentence pairs is non-trivial and crucial for the success of the method. We evaluate our approach on multiple tasks (in-domain) as well as on a domain adaptation task. Augmented SBERT achieves an improvement of up to 6 points for in-domain and of up to 37 points for domain adaptation tasks compared to the original bi-encoder performance.
A Foundation for Ledger Structures
Venue: arXiv cs.LO 2021
Year: 2021

This paper introduces an approach to constructing ledger structures for cryptocurrency systems with basic category theory. Compositional theories of resource convertibility allow us to express the material history of virtual goods, and ownership is modelled by a free construction. Our notion of ownership admits an intuitive graphical representation through string diagrams for monoidal functors.
What Can You Learn from Your Muscles? Learning Visual Representation from Human Interactions
Venue: arXiv cs.CV 2021
Year: 2021

Learning effective representations of visual data that generalize to a variety of downstream tasks has been a long quest for computer vision. Most representation learning approaches rely solely on visual data such as images or videos. In this paper, we explore a novel approach, where we use human interaction and attention cues to investigate whether we can learn better representations compared to visual-only representations. For this study, we collect a dataset of human interactions capturing body part movements and gaze in their daily lives. Our experiments show that our "muscly-supervised" representation that encodes interaction and attention cues outperforms a visual-only state-of-the-art method MoCo (He et al.,2020), on a variety of target tasks: scene classification (semantic), action recognition (temporal), depth estimation (geometric), dynamics prediction (physics) and walkable surface estimation (affordance). Our code and dataset are available at: https://github.com/ehsanik/muscleTorch.
Learning Dexterous Manipulation from Suboptimal Experts
Venue: arXiv cs.RO 2021
Year: 2021

Learning dexterous manipulation in high-dimensional state-action spaces is an important open challenge with exploration presenting a major bottleneck. Although in many cases the learning process could be guided by demonstrations or other suboptimal experts, current RL algorithms for continuous action spaces often fail to effectively utilize combinations of highly off-policy expert data and on-policy exploration data. As a solution, we introduce Relative Entropy Q-Learning (REQ), a simple policy iteration algorithm that combines ideas from successful offline and conventional RL algorithms. It represents the optimal policy via importance sampling from a learned prior and is well-suited to take advantage of mixed data distributions. We demonstrate experimentally that REQ outperforms several strong baselines on robotic manipulation tasks for which suboptimal experts are available. We show how suboptimal experts can be constructed effectively by composing simple waypoint tracking controllers, and we also show how learned primitives can be combined with waypoint controllers to obtain reference behaviors to bootstrap a complex manipulation task on a simulated bimanual robot with human-like hands. Finally, we show that REQ is also effective for general off-policy RL, offline RL, and RL from demonstrations. Videos and further materials are available at sites.google.com/view/rlfse.
Logical Relations as Types: Proof-Relevant Parametricity for Program Modules
Venue: arXiv cs.PL 2021
Year: 2021

The theory of program modules is of interest to language designers not only for its practical importance to programming, but also because it lies at the nexus of three fundamental concerns in language design: the phase distinction, computational effects, and type abstraction. We contribute a fresh "synthetic" take on program modules that treats modules as the fundamental constructs, in which the usual suspects of prior module calculi (kinds, constructors, dynamic programs) are rendered as derived notions in terms of a modal type-theoretic account of the phase distinction. We simplify the account of type abstraction (embodied in the generativity of module functors) through a lax modality that encapsulates computational effects. Our main result is a (significant) proof-relevant and phase-sensitive generalization of the Reynolds abstraction theorem for a calculus of program modules, based on a new kind of logical relation called a parametricity structure. Parametricity structures generalize the proof-irrelevant relations of classical parametricity to proof-relevant families, where there may be non-trivial evidence witnessing the relatedness of two programs -- simplifying the metatheory of strong sums over the collection of types, for although there can be no "relation classifying relations", one easily accommodates a "family classifying small families". Using the insight that logical relations/parametricity is itself a form of phase distinction between the syntactic and the semantic, we contribute a new synthetic approach to phase separated parametricity based on the slogan "logical relations as types", iterating our modal account of the phase distinction. Then, to construct a simulation between two implementations of an abstract type, one simply programs a third implementation whose type component carries the representation invariant.
NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators
Venue: arXiv cs.RO 2021
Year: 2021

We present NEO, a fast and purely reactive motion controller for manipulators which can avoid static and dynamic obstacles while moving to the desired end-effector pose. Additionally, our controller maximises the manipulability of the robot during the trajectory, while avoiding joint position and velocity limits. NEO is wrapped into a strictly convex quadratic programme which, when considering obstacles, joint limits, and manipulability on a 7 degree-of-freedom robot, is generally solved in a few ms. While NEO is not intended to replace state-of-the-art motion planners, our experiments show that it is a viable alternative for scenes with moderate complexity while also being capable of reactive control. For more complex scenes, NEO is better suited as a reactive local controller, in conjunction with a global motion planner. We compare NEO to motion planners on a standard benchmark in simulation and additionally illustrate and verify its operation on a physical robot in a dynamic environment. We provide an open-source library which implements our controller.
Constrained Motion Planning Networks X
Venue: arXiv cs.RO 2021
Year: 2021

Constrained motion planning is a challenging field of research, aiming for computationally efficient methods that can find a collision-free path on the constraint manifolds between a given start and goal configuration. These planning problems come up surprisingly frequently, such as in robot manipulation for performing daily life assistive tasks. However, few solutions to constrained motion planning are available, and those that exist struggle with high computational time complexity in finding a path solution on the manifolds. To address this challenge, we present Constrained Motion Planning Networks X (CoMPNetX). It is a neural planning approach, comprising a conditional deep neural generator and discriminator with neural gradients-based fast projection operator. We also introduce neural task and scene representations conditioned on which the CoMPNetX generates implicit manifold configurations to turbo-charge any underlying classical planner such as Sampling-based Motion Planning methods for quickly solving complex constrained planning tasks. We show that our method finds path solutions with high success rates and lower computation times than state-of-the-art traditional path-finding tools on various challenging scenarios.
Layer-wise Characterization of Latent Information Leakage in Federated Learning
Venue: arXiv cs.CR 2021
Year: 2021

Training deep neural networks via federated learning allows clients to share, instead of the original data, only the model trained on their data. Prior work has demonstrated that in practice a client's private information, unrelated to the main learning task, can be discovered from the model's gradients, which compromises the promised privacy protection. However, there is still no formal approach for quantifying the leakage of private information via the shared updated model or gradients. In this work, we analyze property inference attacks and define two metrics based on (i) an adaptation of the empirical $\mathcal{V}$-information, and (ii) a sensitivity analysis using Jacobian matrices allowing us to measure changes in the gradients with respect to latent information. We show the applicability of our proposed metrics in localizing private latent information in a layer-wise manner and in two settings where (i) we have or (ii) we do not have knowledge of the attackers' capabilities. We evaluate the proposed metrics for quantifying information leakage on three real-world datasets using three benchmark models.
ArCOV19-Rumors: Arabic COVID-19 Twitter Dataset for Misinformation Detection
Venue: arXiv cs.CL 2021
Year: 2021

In this paper we introduce ArCOV19-Rumors, an Arabic COVID-19 Twitter dataset for misinformation detection composed of tweets containing claims from 27th January till the end of April 2020. We collected 138 verified claims, mostly from popular fact-checking websites, and identified 9.4K relevant tweets to those claims. Tweets were manually-annotated by veracity to support research on misinformation detection, which is one of the major problems faced during a pandemic. ArCOV19-Rumors supports two levels of misinformation detection over Twitter: verifying free-text claims (called claim-level verification) and verifying claims expressed in tweets (called tweet-level verification). Our dataset covers, in addition to health, claims related to other topical categories that were influenced by COVID-19, namely, social, politics, sports, entertainment, and religious. Moreover, we present benchmarking results for tweet-level verification on the dataset. We experimented with SOTA models of versatile approaches that either exploit content, user profiles features, temporal features and propagation structure of the conversational threads for tweet verification.
Modeling electrochemical systems with weakly imposed Dirichlet boundary conditions
Venue: arXiv cs.CE 2021
Year: 2021

Finite element modeling of charged species transport has enabled analysis, design, and optimization of a diverse array of electrochemical and electrokinetic devices. These systems are represented by the Poisson-Nernst-Planck equations coupled with the Navier-Stokes equation, with a key quantity of interest being the current at the system boundaries. Accurately computing the current flux is challenging due to the small critical dimension of the boundary layers (small Debye layer) that require fine mesh resolution at the boundaries. We resolve this challenge by using the Dirichlet-to-Neumanntransformation to weakly impose the Dirichlet conditions for the Poisson-Nernst-Planck equations. The results obtained with weakly imposed Dirichlet boundary conditions showed excellent agreement with those obtained when conventional boundary conditions with highly resolved mesh we reemployed. Furthermore, the calculated current flux showed faster mesh convergence using weakly imposed conditions compared to the conventionally imposed Dirichlet boundary conditions. We illustrate the approach on canonical 3D problems that otherwise would have been computationally intractable to solve accurately. This approach substantially reduces the computational cost of model-ing electrochemical systems.
Model Hierarchy Predictive Control of Robotic Systems
Venue: arXiv cs.RO 2021
Year: 2021

This letter presents a new predictive control architecture for high-dimensional robotic systems. As opposed to a conventional Model Predictive Control (MPC) approach to locomotion that formulates a hierarchical sequence of optimization problems, the proposed work formulates a single optimization problem posed over a hierarchy of models, and is thus named Model Hierarchy Predictive Control (MHPC). MHPC is formulated as a multi-phase receding-horizon Trajectory Optimization (TO) problem, and can be implemented using any general multi-phase TO solver. MHPC is benchmarked in simulation on a quadruped, a biped, and a quadrotor, demonstrating control performance on par or exceeding whole-body MPC while maintaining a lower computational cost in each case. A preliminary gap jumping experiment is conducted on the MIT Mini Cheetah with the control policy generated offline, demonstrating the physical validity of the generated trajectories and motivating online MHPC in future work.