OpenRaiser/Intern-Atlas huggingface dataset:
Karolos: An Open-Source Reinforcement Learning Framework for Robot-Task Environments
Venue: arXiv cs.RO 2022
Year: 2022

In reinforcement learning (RL) research, simulations enable benchmarks between algorithms, as well as prototyping and hyper-parameter tuning of agents. In order to promote RL both in research and real-world applications, frameworks are required which are on the one hand efficient in terms of running experiments as fast as possible. On the other hand, they must be flexible enough to allow the integration of newly developed optimization techniques, e.g. new RL algorithms, which are continuously put forward by an active research community. In this paper, we introduce Karolos, a RL framework developed for robotic applications, with a particular focus on transfer scenarios with varying robot-task combinations reflected in a modular environment architecture. In addition, we provide implementations of state-of-the-art RL algorithms along with common learning-facilitating enhancements, as well as an architecture to parallelize environments across multiple processes to significantly speed up experiments. The code is open source and published on GitHub with the aim of promoting research of RL applications in robotics.
A Geometric-Relational Deep Learning Framework for BIM Object Classification
Venue: arXiv cs.CV 2022
Year: 2022

Interoperability issue is a significant problem in Building Information Modeling (BIM). Object type, as a kind of critical semantic information needed in multiple BIM applications like scan-to-BIM and code compliance checking, also suffers when exchanging BIM data or creating models using software of other domains. It can be supplemented using deep learning. Current deep learning methods mainly learn from the shape information of BIM objects for classification, leaving relational information inherent in the BIM context unused. To address this issue, we introduce a two-branch geometric-relational deep learning framework. It boosts previous geometric classification methods with relational information. We also present a BIM object dataset IFCNet++, which contains both geometric and relational information about the objects. Experiments show that our framework can be flexibly adapted to different geometric methods. And relational features do act as a bonus to general geometric learning methods, obviously improving their classification performance, thus reducing the manual labor of checking models and improving the practical value of enriched BIM models.
Trie-Compressed Intersectable Sets
Venue: arXiv cs.DS 2022
Year: 2022

We introduce space- and time-efficient algorithms and data structures for the offline set intersection problem. We show that a sorted integer set $S \subseteq [0{..}u)$ of $n$ elements can be represented using compressed space while supporting $k$-way intersections in adaptive $O(kδ\lg{\!(u/δ)})$ time, $δ$ being the alternation measure introduced by Barbay and Kenyon. Our experimental results suggest that our approaches are competitive in practice, outperforming the most efficient alternatives (Partitioned Elias-Fano indexes, Roaring Bitmaps, and Recursive Universe Partitioning (RUP)) in several scenarios, offering in general relevant space-time trade-offs.
Few-Shot Nested Named Entity Recognition
Venue: arXiv cs.CL 2022
Year: 2022

While Named Entity Recognition (NER) is a widely studied task, making inferences of entities with only a few labeled data has been challenging, especially for entities with nested structures. Unlike flat entities, entities and their nested entities are more likely to have similar semantic feature representations, drastically increasing difficulties in classifying different entity categories in the few-shot setting. Although prior work has briefly discussed nested structures in the context of few-shot learning, to our best knowledge, this paper is the first one specifically dedicated to studying the few-shot nested NER task. Leveraging contextual dependency to distinguish nested entities, we propose a Biaffine-based Contrastive Learning (BCL) framework. We first design a Biaffine span representation module for learning the contextual span dependency representation for each entity span rather than only learning its semantic representation. We then merge these two representations by the residual connection to distinguish nested entities. Finally, we build a contrastive learning framework to adjust the representation distribution for larger margin boundaries and more generalized domain transfer learning ability. We conducted experimental studies on three English, German, and Russian nested NER datasets. The results show that the BCL outperformed three baseline models on the 1-shot and 5-shot tasks in terms of F1 score.
Prim-LAfD: A Framework to Learn and Adapt Primitive-Based Skills from Demonstrations for Insertion Tasks
Venue: arXiv cs.RO 2022
Year: 2022

Learning generalizable insertion skills in a data-efficient manner has long been a challenge in the robot learning community. While the current state-of-the-art methods with reinforcement learning (RL) show promising performance in acquiring manipulation skills, the algorithms are data-hungry and hard to generalize. To overcome the issues, in this paper we present Prim-LAfD, a simple yet effective framework to learn and adapt primitive-based insertion skills from demonstrations. Prim-LAfD utilizes black-box function optimization to learn and adapt the primitive parameters leveraging prior experiences. Human demonstrations are modeled as dense rewards guiding parameter learning. We validate the effectiveness of the proposed method on eight peg-hole and connector-socket insertion tasks. The experimental results show that our proposed framework takes less than one hour to acquire the insertion skills and as few as fifteen minutes to adapt to an unseen insertion task on a physical robot.
AL-iGAN: An Active Learning Framework for Tunnel Geological Reconstruction Based on TBM Operational Data
Venue: arXiv cs.LG 2022
Year: 2022

In tunnel boring machine (TBM) underground projects, an accurate description of the rock-soil types distributed in the tunnel can decrease the construction risk ({\it e.g.} surface settlement and landslide) and improve the efficiency of construction. In this paper, we propose an active learning framework, called AL-iGAN, for tunnel geological reconstruction based on TBM operational data. This framework contains two main parts: one is the usage of active learning techniques for recommending new drilling locations to label the TBM operational data and then to form new training samples; and the other is an incremental generative adversarial network for geological reconstruction (iGAN-GR), whose weights can be incrementally updated to improve the reconstruction performance by using the new samples. The numerical experiment validate the effectiveness of the proposed framework as well.
A Hybrid Deep Learning Anomaly Detection Framework for Intrusion Detection
Venue: arXiv cs.CR 2022
Year: 2022

Cyber intrusion attacks that compromise the users' critical and sensitive data are escalating in volume and intensity, especially with the growing connections between our daily life and the Internet. The large volume and high complexity of such intrusion attacks have impeded the effectiveness of most traditional defence techniques. While at the same time, the remarkable performance of the machine learning methods, especially deep learning, in computer vision, had garnered research interests from the cyber security community to further enhance and automate intrusion detections. However, the expensive data labeling and limitation of anomalous data make it challenging to train an intrusion detector in a fully supervised manner. Therefore, intrusion detection based on unsupervised anomaly detection is an important feature too. In this paper, we propose a three-stage deep learning anomaly detection based network intrusion attack detection framework. The framework comprises an integration of unsupervised (K-means clustering), semi-supervised (GANomaly) and supervised learning (CNN) algorithms. We then evaluated and showed the performance of our implemented framework on three benchmark datasets: NSL-KDD, CIC-IDS2018, and TON_IoT.
Cloud-Device Collaborative Adaptation to Continual Changing Environments in the Real-world
Venue: arXiv cs.CV 2022
Year: 2022

When facing changing environments in the real world, the lightweight model on client devices suffers from severe performance drops under distribution shifts. The main limitations of the existing device model lie in (1) unable to update due to the computation limit of the device, (2) the limited generalization ability of the lightweight model. Meanwhile, recent large models have shown strong generalization capability on the cloud while they can not be deployed on client devices due to poor computation constraints. To enable the device model to deal with changing environments, we propose a new learning paradigm of Cloud-Device Collaborative Continual Adaptation, which encourages collaboration between cloud and device and improves the generalization of the device model. Based on this paradigm, we further propose an Uncertainty-based Visual Prompt Adapted (U-VPA) teacher-student model to transfer the generalization capability of the large model on the cloud to the device model. Specifically, we first design the Uncertainty Guided Sampling (UGS) to screen out challenging data continuously and transmit the most out-of-distribution samples from the device to the cloud. Then we propose a Visual Prompt Learning Strategy with Uncertainty guided updating (VPLU) to specifically deal with the selected samples with more distribution shifts. We transmit the visual prompts to the device and concatenate them with the incoming data to pull the device testing distribution closer to the cloud training distribution. We conduct extensive experiments on two object detection datasets with continually changing environments. Our proposed U-VPA teacher-student framework outperforms previous state-of-the-art test time adaptation and device-cloud collaboration methods. The code and datasets will be released.
A Domain-Knowledge-Inspired Music Embedding Space and a Novel Attention Mechanism for Symbolic Music Modeling
Venue: arXiv cs.SD 2022
Year: 2022

Following the success of the transformer architecture in the natural language domain, transformer-like architectures have been widely applied to the domain of symbolic music recently. Symbolic music and text, however, are two different modalities. Symbolic music contains multiple attributes, both absolute attributes (e.g., pitch) and relative attributes (e.g., pitch interval). These relative attributes shape human perception of musical motifs. These important relative attributes, however, are mostly ignored in existing symbolic music modeling methods with the main reason being the lack of a musically-meaningful embedding space where both the absolute and relative embeddings of the symbolic music tokens can be efficiently represented. In this paper, we propose the Fundamental Music Embedding (FME) for symbolic music based on a bias-adjusted sinusoidal encoding within which both the absolute and the relative attributes can be embedded and the fundamental musical properties (e.g., translational invariance) are explicitly preserved. Taking advantage of the proposed FME, we further propose a novel attention mechanism based on the relative index, pitch and onset embeddings (RIPO attention) such that the musical domain knowledge can be fully utilized for symbolic music modeling. Experiment results show that our proposed model: RIPO transformer which utilizes FME and RIPO attention outperforms the state-of-the-art transformers (i.e., music transformer, linear transformer) in a melody completion task. Moreover, using the RIPO transformer in a downstream music generation task, we notice that the notorious degeneration phenomenon no longer exists and the music generated by the RIPO transformer outperforms the music generated by state-of-the-art transformer models in both subjective and objective evaluations.
Clustering through Feature Space Sequence Discovery and Analysis
Venue: arXiv cs.LG 2022
Year: 2022

Identifying high-dimensional data patterns without a priori knowledge is an important task of data science. This paper proposes a simple and efficient noparametric algorithm: Data Convert to Sequence Analysis, DCSA, which dynamically explore each point in the feature space without repetition, and a Directed Hamilton Path will be found. Based on the change point analysis theory, The sequence corresponding to the path is cut into several fragments to achieve clustering. The experiments on real-world datasets from different fields with dimensions ranging from 4 to 20531 confirm that the method in this work is robust and has visual interpretability in result analysis.
CLeBPI: Contrastive Learning for Bug Priority Inference
Venue: arXiv cs.SE 2022
Year: 2022

Automated bug priority inference can reduce the time overhead of bug triagers for priority assignments, improving the efficiency of software maintenance. Currently, there are two orthogonal lines for this task, i.e., traditional machine learning based (TML-based) and neural network based (NN-based) approaches. Although these approaches achieve competitive performance, our observation finds that existing approaches face the following two issues: 1) TML-based approaches require much manual feature engineering and cannot learn the semantic information of bug reports; 2) Both TML-based and NN-based approaches cannot effectively address the label imbalance problem because they are difficult to distinguish the semantic difference between bug reports with different priorities. In this paper, we propose CLeBPI (Contrastive Learning for Bug Priority Inference), which leverages pre-trained language model and contrastive learning to tackle the above-mentioned two issues. Specifically, CLeBPI is first pre-trained on a large-scale bug report corpus in a self-supervised way, thus it can automatically learn contextual representations of bug reports without manual feature engineering. Afterward, it is further pre-trained by a contrastive learning objective, which enables it to distinguish semantic differences between bug reports, learning more precise contextual representations for each bug report. When finishing pre-training, we can connect a classification layer to CLeBPI and fine-tune it for bug priority inference in a supervised way. To verify the effectiveness of CLeBPI, we choose four baseline approaches and conduct comparison experiments on a public dataset. The experimental results show that CLeBPI outperforms all baseline approaches by 23.86%-77.80% in terms of weighted average F1-score, showing its effectiveness.
Improving Training and Inference of Face Recognition Models via Random Temperature Scaling
Venue: arXiv cs.CV 2022
Year: 2022

Data uncertainty is commonly observed in the images for face recognition (FR). However, deep learning algorithms often make predictions with high confidence even for uncertain or irrelevant inputs. Intuitively, FR algorithms can benefit from both the estimation of uncertainty and the detection of out-of-distribution (OOD) samples. Taking a probabilistic view of the current classification model, the temperature scalar is exactly the scale of uncertainty noise implicitly added in the softmax function. Meanwhile, the uncertainty of images in a dataset should follow a prior distribution. Based on the observation, a unified framework for uncertainty modeling and FR, Random Temperature Scaling (RTS), is proposed to learn a reliable FR algorithm. The benefits of RTS are two-fold. (1) In the training phase, it can adjust the learning strength of clean and noisy samples for stability and accuracy. (2) In the test phase, it can provide a score of confidence to detect uncertain, low-quality and even OOD samples, without training on extra labels. Extensive experiments on FR benchmarks demonstrate that the magnitude of variance in RTS, which serves as an OOD detection metric, is closely related to the uncertainty of the input image. RTS can achieve top performance on both the FR and OOD detection tasks. Moreover, the model trained with RTS can perform robustly on datasets with noise. The proposed module is light-weight and only adds negligible computation cost to the model.
Spectral Feature Augmentation for Graph Contrastive Learning and Beyond
Venue: arXiv cs.LG 2022
Year: 2022

Although augmentations (e.g., perturbation of graph edges, image crops) boost the efficiency of Contrastive Learning (CL), feature level augmentation is another plausible, complementary yet not well researched strategy. Thus, we present a novel spectral feature argumentation for contrastive learning on graphs (and images). To this end, for each data view, we estimate a low-rank approximation per feature map and subtract that approximation from the map to obtain its complement. This is achieved by the proposed herein incomplete power iteration, a non-standard power iteration regime which enjoys two valuable byproducts (under mere one or two iterations): (i) it partially balances spectrum of the feature map, and (ii) it injects the noise into rebalanced singular values of the feature map (spectral augmentation). For two views, we align these rebalanced feature maps as such an improved alignment step can focus more on less dominant singular values of matrices of both views, whereas the spectral augmentation does not affect the spectral angle alignment (singular vectors are not perturbed). We derive the analytical form for: (i) the incomplete power iteration to capture its spectrum-balancing effect, and (ii) the variance of singular values augmented implicitly by the noise. We also show that the spectral augmentation improves the generalization bound. Experiments on graph/image datasets show that our spectral feature augmentation outperforms baselines, and is complementary with other augmentation strategies and compatible with various contrastive losses.
Interaction in Remote Peddling Using Avatar Robot by People with Disabilities
Venue: arXiv cs.RO 2022
Year: 2022

Telework "avatar work," in which people with disabilities can engage in physical work such as customer service, is being implemented in society. In order to enable avatar work in a variety of occupations, we propose a mobile sales system using a mobile frozen drink machine and an avatar robot "OriHime", focusing on mobile customer service like peddling. The effect of the peddling by the system on the customers are examined based on the results of video annotation.
Fair Graphical Resource Allocation with Matching-Induced Utilities
Venue: arXiv cs.GT 2022
Year: 2022

Motivated by real-world applications, we study the fair allocation of graphical resources, where the resources are the vertices in a graph. Upon receiving a set of resources, an agent's utility equals the weight of a maximum matching in the induced subgraph. We care about maximin share (MMS) fairness and envy-freeness up to one item (EF1). Regarding MMS fairness, the problem does not admit a finite approximation ratio for heterogeneous agents. For homogeneous agents, we design constant-approximation polynomial-time algorithms, and also note that significant amount of social welfare is sacrificed inevitably in order to ensure (approximate) MMS fairness. We then consider EF1 allocations whose existence is guaranteed. However, the social welfare guarantee of EF1 allocations cannot be better than $1/n$ for the general case, where $n$ is the number of agents.Fortunately, for three special cases, binary-weight, two-agents and homogeneous-agents, we are able to design polynomial-time algorithms that also ensure a constant fractions of the maximum social welfare.
A Multi-Stream Fusion Network for Image Splicing Localization
Venue: arXiv cs.CV 2022
Year: 2022

In this paper, we address the problem of image splicing localization with a multi-stream network architecture that processes the raw RGB image in parallel with other handcrafted forensic signals. Unlike previous methods that either use only the RGB images or stack several signals in a channel-wise manner, we propose an encoder-decoder architecture that consists of multiple encoder streams. Each stream is fed with either the tampered image or handcrafted signals and processes them separately to capture relevant information from each one independently. Finally, the extracted features from the multiple streams are fused in the bottleneck of the architecture and propagated to the decoder network that generates the output localization map. We experiment with two handcrafted algorithms, i.e., DCT and Splicebuster. Our proposed approach is benchmarked on three public forensics datasets, demonstrating competitive performance against several competing methods and achieving state-of-the-art results, e.g., 0.898 AUC on CASIA.
Robustness in Fatigue Strength Estimation
Venue: arXiv cs.LG 2022
Year: 2022

Fatigue strength estimation is a costly manual material characterization process in which state-of-the-art approaches follow a standardized experiment and analysis procedure. In this paper, we examine a modular, Machine Learning-based approach for fatigue strength estimation that is likely to reduce the number of experiments and, thus, the overall experimental costs. Despite its high potential, deployment of a new approach in a real-life lab requires more than the theoretical definition and simulation. Therefore, we study the robustness of the approach against misspecification of the prior and discretization of the specified loads. We identify its applicability and its advantageous behavior over the state-of-the-art methods, potentially reducing the number of costly experiments.
A General Purpose Supervisory Signal for Embodied Agents
Venue: arXiv cs.CV 2022
Year: 2022

Training effective embodied AI agents often involves manual reward engineering, expert imitation, specialized components such as maps, or leveraging additional sensors for depth and localization. Another approach is to use neural architectures alongside self-supervised objectives which encourage better representation learning. In practice, there are few guarantees that these self-supervised objectives encode task-relevant information. We propose the Scene Graph Contrastive (SGC) loss, which uses scene graphs as general-purpose, training-only, supervisory signals. The SGC loss does away with explicit graph decoding and instead uses contrastive learning to align an agent's representation with a rich graphical encoding of its environment. The SGC loss is generally applicable, simple to implement, and encourages representations that encode objects' semantics, relationships, and history. Using the SGC loss, we attain significant gains on three embodied tasks: Object Navigation, Multi-Object Navigation, and Arm Point Navigation. Finally, we present studies and analyses which demonstrate the ability of our trained representation to encode semantic cues about the environment.