OpenRaiser/Intern-Atlas huggingface dataset:
GCN-Denoiser: Mesh Denoising with Graph Convolutional Networks
Venue: arXiv cs.GR 2021
Year: 2021

In this paper, we present GCN-Denoiser, a novel feature-preserving mesh denoising method based on graph convolutional networks (GCNs). Unlike previous learning-based mesh denoising methods that exploit hand-crafted or voxel-based representations for feature learning, our method explores the structure of a triangular mesh itself and introduces a graph representation followed by graph convolution operations in the dual space of triangles. We show such a graph representation naturally captures the geometry features while being lightweight for both training and inference. To facilitate effective feature learning, our network exploits both static and dynamic edge convolutions, which allow us to learn information from both the explicit mesh structure and potential implicit relations among unconnected neighbors. To better approximate an unknown noise function, we introduce a cascaded optimization paradigm to progressively regress the noise-free facet normals with multiple GCNs. GCN-Denoiser achieves the new state-of-the-art results in multiple noise datasets, including CAD models often containing sharp features and raw scan models with real noise captured from different devices. We also create a new dataset called PrintData containing 20 real scans with their corresponding ground-truth meshes for the research community. Our code and data are available in https://github.com/Jhonve/GCN-Denoiser.
Natural Language-Guided Programming
Venue: arXiv cs.SE 2021
Year: 2021

In today's software world with its cornucopia of reusable software libraries, when a programmer is faced with a programming task that they suspect can be completed through the use of a library, they often look for code examples using a search engine and then manually adapt found examples to their specific context of use. We put forward a vision based on a new breed of developer tools that have the potential to largely automate this process. The key idea is to adapt code autocompletion tools such that they take into account not only the developer's already-written code but also the intent of the task the developer is trying to achieve next, formulated in plain natural language. We call this practice of enriching the code with natural language intent to facilitate its completion natural language-guided programming. To show that this idea is feasible we design, implement and benchmark a tool that solves this problem in the context of a specific domain (data science) and a specific programming language (Python). Central to the tool is the use of language models trained on a large corpus of documented code. Our initial experiments confirm the feasibility of the idea but also make it clear that we have only scratched the surface of what may become possible in the future. We end the paper with a comprehensive research agenda to stimulate additional research in the budding area of natural language-guided programming.
Retrieval & Interaction Machine for Tabular Data Prediction
Venue: arXiv cs.IR 2021
Year: 2021

Prediction over tabular data is an essential task in many data science applications such as recommender systems, online advertising, medical treatment, etc. Tabular data is structured into rows and columns, with each row as a data sample and each column as a feature attribute. Both the columns and rows of the tabular data carry useful patterns that could improve the model prediction performance. However, most existing models focus on the cross-column patterns yet overlook the cross-row patterns as they deal with single samples independently. In this work, we propose a general learning framework named Retrieval & Interaction Machine (RIM) that fully exploits both cross-row and cross-column patterns among tabular data. Specifically, RIM first leverages search engine techniques to efficiently retrieve useful rows of the table to assist the label prediction of the target row, then uses feature interaction networks to capture the cross-column patterns among the target row and the retrieved rows so as to make the final label prediction. We conduct extensive experiments on 11 datasets of three important tasks, i.e., CTR prediction (classification), top-n recommendation (ranking) and rating prediction (regression). Experimental results show that RIM achieves significant improvements over the state-of-the-art and various baselines, demonstrating the superiority and efficacy of RIM.
Putting RDF2vec in Order
Venue: arXiv cs.LG 2021
Year: 2021

The RDF2vec method for creating node embeddings on knowledge graphs is based on word2vec, which, in turn, is agnostic towards the position of context words. In this paper, we argue that this might be a shortcoming when training RDF2vec, and show that using a word2vec variant which respects order yields considerable performance gains especially on tasks where entities of different classes are involved.
Model-agnostic vs. Model-intrinsic Interpretability for Explainable Product Search
Venue: arXiv cs.IR 2021
Year: 2021

Product retrieval systems have served as the main entry for customers to discover and purchase products online. With increasing concerns on the transparency and accountability of AI systems, studies on explainable information retrieval has received more and more attention in the research community. Interestingly, in the domain of e-commerce, despite the extensive studies on explainable product recommendation, the studies of explainable product search is still in an early stage. In this paper, we study how to construct effective explainable product search by comparing model-agnostic explanation paradigms with model-intrinsic paradigms and analyzing the important factors that determine the performance of product search explanations. We propose an explainable product search model with model-intrinsic interpretability and conduct crowdsourcing to compare it with the state-of-the-art explainable product search model with model-agnostic interpretability. We observe that both paradigms have their own advantages and the effectiveness of search explanations on different properties are affected by different factors. For example, explanation fidelity is more important for user's overall satisfaction on the system while explanation novelty may be more useful in attracting user purchases. These findings could have important implications for the future studies and design of explainable product search engines.
On the Relation of Trust and Explainability: Why to Engineer for Trustworthiness
Venue: arXiv cs.SE 2021
Year: 2021

Recently, requirements for the explainability of software systems have gained prominence. One of the primary motivators for such requirements is that explainability is expected to facilitate stakeholders' trust in a system. Although this seems intuitively appealing, recent psychological studies indicate that explanations do not necessarily facilitate trust. Thus, explainability requirements might not be suitable for promoting trust. One way to accommodate this finding is, we suggest, to focus on trustworthiness instead of trust. While these two may come apart, we ideally want both: a trustworthy system and the stakeholder's trust. In this paper, we argue that even though trustworthiness does not automatically lead to trust, there are several reasons to engineer primarily for trustworthiness -- and that a system's explainability can crucially contribute to its trustworthiness.
Friddy multiagent price stabilization model
Venue: arXiv cs.AI 2021
Year: 2021

In a multiagent network model consisting of nodes, each network node has an agent and priced Friddy coins, and the agent can buy or sell Friddy coins in the marketplace. Though every node may not effectively have an equal price during the transaction time, the prices have to reach equilibrium by iterating buy and sell transactions on a macro level.
Extracting Semantics from Maintenance Records
Venue: arXiv cs.CL 2021
Year: 2021

Rapid progress in natural language processing has led to its utilization in a variety of industrial and enterprise settings, including in its use for information extraction, specifically named entity recognition and relation extraction, from documents such as engineering manuals and field maintenance reports. While named entity recognition is a well-studied problem, existing state-of-the-art approaches require large labelled datasets which are hard to acquire for sensitive data such as maintenance records. Further, industrial domain experts tend to distrust results from black box machine learning models, especially when the extracted information is used in downstream predictive maintenance analytics. We overcome these challenges by developing three approaches built on the foundation of domain expert knowledge captured in dictionaries and ontologies. We develop a syntactic and semantic rules-based approach and an approach leveraging a pre-trained language model, fine-tuned for a question-answering task on top of our base dictionary lookup to extract entities of interest from maintenance records. We also develop a preliminary ontology to represent and capture the semantics of maintenance records. Our evaluations on a real-world aviation maintenance records dataset show promising results and help identify challenges specific to named entity recognition in the context of noisy industrial data.
An Earthworm-Inspired Multi-Mode Underwater Locomotion Robot: Design, Modeling, and Experiments
Venue: arXiv cs.RO 2021
Year: 2021

Faced with strong demand for robots working in underwater pipeline environments, a novel underwater multi-model locomotion robot is designed and studied in this research. By mimicking the earthworm's metameric body, the robot is segmented in the structure; by synthesizing the earthworm-like peristaltic locomotion mechanism and the propeller-driven swimming mechanism, the robot possesses unique multi-mode locomotion capability. In detail, the in-pipe earthworm-like peristaltic crawling is achieved based on servomotor-driven cords and pre-bent spring-steel belts that work antagonistically, and the three-dimensional underwater swimming is realized by four independently-controlled propellers. With a robot covering made of silicon rubber, the two locomotion modes are tested in the underwater environment, through which, the rationality and the effectiveness of the robot design are demonstrated. Aiming at predicting the robotic locomotion performance, mechanical models of the robot are further developed. For the underwater swimming mode, by considering the robot as a spheroid, an equivalent dynamic model is constructed, whose validity is verified via computational fluid dynamics (CFD) simulations; for the in-pipe crawling mode, a classical kinematics model is employed to predict the average locomotion speeds under different gait controls. The outcomes of this research could offer useful design and modeling guidelines for the development of earthworm-like locomotion robots with unique underwater multi-mode locomotion capability.
AMMUS : A Survey of Transformer-based Pretrained Models in Natural Language Processing
Venue: arXiv cs.CL 2021
Year: 2021

Transformer-based pretrained language models (T-PTLMs) have achieved great success in almost every NLP task. The evolution of these models started with GPT and BERT. These models are built on the top of transformers, self-supervised learning and transfer learning. Transformed-based PTLMs learn universal language representations from large volumes of text data using self-supervised learning and transfer this knowledge to downstream tasks. These models provide good background knowledge to downstream tasks which avoids training of downstream models from scratch. In this comprehensive survey paper, we initially give a brief overview of self-supervised learning. Next, we explain various core concepts like pretraining, pretraining methods, pretraining tasks, embeddings and downstream adaptation methods. Next, we present a new taxonomy of T-PTLMs and then give brief overview of various benchmarks including both intrinsic and extrinsic. We present a summary of various useful libraries to work with T-PTLMs. Finally, we highlight some of the future research directions which will further improve these models. We strongly believe that this comprehensive survey paper will serve as a good reference to learn the core concepts as well as to stay updated with the recent happenings in T-PTLMs.
iButter: Neural Interactive Bullet Time Generator for Human Free-viewpoint Rendering
Venue: arXiv cs.CV 2021
Year: 2021

Generating ``bullet-time'' effects of human free-viewpoint videos is critical for immersive visual effects and VR/AR experience. Recent neural advances still lack the controllable and interactive bullet-time design ability for human free-viewpoint rendering, especially under the real-time, dynamic and general setting for our trajectory-aware task. To fill this gap, in this paper we propose a neural interactive bullet-time generator (iButter) for photo-realistic human free-viewpoint rendering from dense RGB streams, which enables flexible and interactive design for human bullet-time visual effects. Our iButter approach consists of a real-time preview and design stage as well as a trajectory-aware refinement stage. During preview, we propose an interactive bullet-time design approach by extending the NeRF rendering to a real-time and dynamic setting and getting rid of the tedious per-scene training. To this end, our bullet-time design stage utilizes a hybrid training set, light-weight network design and an efficient silhouette-based sampling strategy. During refinement, we introduce an efficient trajectory-aware scheme within 20 minutes, which jointly encodes the spatial, temporal consistency and semantic cues along the designed trajectory, achieving photo-realistic bullet-time viewing experience of human activities. Extensive experiments demonstrate the effectiveness of our approach for convenient interactive bullet-time design and photo-realistic human free-viewpoint video generation.
On the Fine-Grained Complexity of the Unbounded SubsetSum and the Frobenius Problem
Venue: arXiv cs.DS 2021
Year: 2021

Consider positive integral solutions $x \in \mathbb{Z}^{n+1}$ to the equation $a_0 x_0 + \ldots + a_n x_n = t$. In the so called unbounded subset sum problem, the objective is to decide whether such a solution exists, whereas in the Frobenius problem, the objective is to compute the largest $t$ such that there is no such solution. In this paper we study the algorithmic complexity of the unbounded subset sum, the Frobenius problem and a generalization of the problems. More precisely, we study pseudo-polynomial time algorithms with a running time that depends on the smallest number $a_0$ or respectively the largest number $a_n$. For the parameter $a_0$, we show that all considered problems are subquadratically equivalent to $(min,+)$-convolution, a fundamental algorithmic problem from the area of fine-grained complexity. By this equivalence, we obtain hardness results for the considered problems (based on the assumption that an algorithm with a subquadratic running time for $(min,+)$-convolution does not exist) as well as algorithms with improved running time. The proof for the equivalence makes use of structural properties of solutions, a technique that was developed in the area of integer programming. In case of the complexity of the problems parameterized by $a_n$, we present improved algorithms. For example we give a quasi linear time algorithm for the Frobenius problem as well as a hardness result based on the strong exponential time hypothesis.
Digital Forensics Domain and Metamodeling Development Approaches
Venue: arXiv cs.CR 2021
Year: 2021

Metamodeling is used as a general technique for integrating and defining models from different domains. This technique can be used in diverse application domains, especially for purposes of standardization. Also, this process mainly has a focus on the identification of general concepts that exist in various problem domain and their relations and to solve complexity, interoperability, and heterogeneity aspects of different domains. Several diverse metamodeling development approaches have been proposed in the literature to develop metamodels. Each metamodeling development process has some advantages and disadvantages too. Therefore, the objective of this paper is to provide a comprehensive review of existing metamodeling development approaches and conduct a comparative study among them-eventually selecting the best approach for metamodel development in the perspective of digital forensics.
Conditional Sequential Slate Optimization
Venue: arXiv cs.IR 2021
Year: 2021

The top search results matching a user query that are displayed on the first page are critical to the effectiveness and perception of a search system. A search ranking system typically orders the results by independent query-document scores to produce a slate of search results. However, such unilateral scoring methods may fail to capture inter-document dependencies that users are sensitive to, thus producing a sub-optimal slate. Further, in practice, many real-world applications such as e-commerce search require enforcing certain distributional criteria at the slate-level, due to business objectives or long term user retention goals. Unilateral scoring of results does not explicitly support optimizing for such objectives with respect to a slate. Hence, solutions to the slate optimization problem must consider the optimal selection and order of the documents, along with adherence to slate-level distributional criteria. To that end, we propose a hybrid framework extended from traditional slate optimization to solve the conditional slate optimization problem. We introduce conditional sequential slate optimization (CSSO), which jointly learns to optimize for traditional ranking metrics as well as prescribed distribution criteria of documents within the slate. The proposed method can be applied to practical real world problems such as enforcing diversity in e-commerce search results, mitigating bias in top results and personalization of results. Experiments on public datasets and real-world data from e-commerce datasets show that CSSO outperforms popular comparable ranking methods in terms of adherence to distributional criteria while producing comparable or better relevance metrics.
Conditional Temporal Variational AutoEncoder for Action Video Prediction
Venue: arXiv cs.CV 2021
Year: 2021

To synthesize a realistic action sequence based on a single human image, it is crucial to model both motion patterns and diversity in the action video. This paper proposes an Action Conditional Temporal Variational AutoEncoder (ACT-VAE) to improve motion prediction accuracy and capture movement diversity. ACT-VAE predicts pose sequences for an action clips from a single input image. It is implemented as a deep generative model that maintains temporal coherence according to the action category with a novel temporal modeling on latent space. Further, ACT-VAE is a general action sequence prediction framework. When connected with a plug-and-play Pose-to-Image (P2I) network, ACT-VAE can synthesize image sequences. Extensive experiments bear out our approach can predict accurate pose and synthesize realistic image sequences, surpassing state-of-the-art approaches. Compared to existing methods, ACT-VAE improves model accuracy and preserves diversity.
Dynamic Attention-based Communication-Efficient Federated Learning
Venue: arXiv cs.LG 2021
Year: 2021

Federated learning (FL) offers a solution to train a global machine learning model while still maintaining data privacy, without needing access to data stored locally at the clients. However, FL suffers performance degradation when client data distribution is non-IID, and a longer training duration to combat this degradation may not necessarily be feasible due to communication limitations. To address this challenge, we propose a new adaptive training algorithm $\texttt{AdaFL}$, which comprises two components: (i) an attention-based client selection mechanism for a fairer training scheme among the clients; and (ii) a dynamic fraction method to balance the trade-off between performance stability and communication efficiency. Experimental results show that our $\texttt{AdaFL}$ algorithm outperforms the usual $\texttt{FedAvg}$ algorithm, and can be incorporated to further improve various state-of-the-art FL algorithms, with respect to three aspects: model accuracy, performance stability, and communication efficiency.
From market-ready ROVs to low-cost AUVs
Venue: arXiv cs.RO 2021
Year: 2021

Autonomous Underwater Vehicles (AUVs) are becoming increasingly important for different types of industrial applications. The generally high cost of (AUVs) restricts the access to them and therefore advances in research and technological development. However, recent advances have led to lower cost commercially available Remotely Operated Vehicles (ROVs), which present a platform that can be enhanced to enable a high degree of autonomy, similar to that of a high-end (AUV). In this article, we present how a low-cost commercial-off-the-shelf (ROV) can be used as a foundation for developing versatile and affordable (AUVs). We introduce the required hardware modifications to obtain a system capable of autonomous operations as well as the necessary software modules. Additionally, we present a set of use cases exhibiting the versatility of the developed platform for intervention and mapping tasks.
Reimagining an autonomous vehicle
Venue: arXiv cs.LG 2021
Year: 2021

The self driving challenge in 2021 is this century's technological equivalent of the space race, and is now entering the second major decade of development. Solving the technology will create social change which parallels the invention of the automobile itself. Today's autonomous driving technology is laudable, though rooted in decisions made a decade ago. We argue that a rethink is required, reconsidering the autonomous vehicle (AV) problem in the light of the body of knowledge that has been gained since the DARPA challenges which seeded the industry. What does AV2.0 look like? We present an alternative vision: a recipe for driving with machine learning, and grand challenges for research in driving.
Distributional Depth-Based Estimation of Object Articulation Models
Venue: arXiv cs.RO 2021
Year: 2021

We propose a method that efficiently learns distributions over articulation model parameters directly from depth images without the need to know articulation model categories a priori. By contrast, existing methods that learn articulation models from raw observations typically only predict point estimates of the model parameters, which are insufficient to guarantee the safe manipulation of articulated objects. Our core contributions include a novel representation for distributions over rigid body transformations and articulation model parameters based on screw theory, von Mises-Fisher distributions, and Stiefel manifolds. Combining these concepts allows for an efficient, mathematically sound representation that implicitly satisfies the constraints that rigid body transformations and articulations must adhere to. Leveraging this representation, we introduce a novel deep learning based approach, DUST-net, that performs category-independent articulation model estimation while also providing model uncertainties. We evaluate our approach on several benchmarking datasets and real-world objects and compare its performance with two current state-of-the-art methods. Our results demonstrate that DUST-net can successfully learn distributions over articulation models for novel objects across articulation model categories, which generate point estimates with better accuracy than state-of-the-art methods and effectively capture the uncertainty over predicted model parameters due to noisy inputs. Project webpage: https://pearl-utexas.github.io/DUST-net/