OpenRaiser/Intern-Atlas huggingface dataset:
Multi-Agent Exploration of an Unknown Sparse Landmark Complex via Deep Reinforcement Learning
Venue: arXiv cs.RO 2022
Year: 2022

In recent years Landmark Complexes have been successfully employed for localization-free and metric-free autonomous exploration using a group of sensing-limited and communication-limited robots in a GPS-denied environment. To ensure rapid and complete exploration, existing works make assumptions on the density and distribution of landmarks in the environment. These assumptions may be overly restrictive, especially in hazardous environments where landmarks may be destroyed or completely missing. In this paper, we first propose a deep reinforcement learning framework for multi-agent cooperative exploration in environments with sparse landmarks while reducing client-server communication. By leveraging recent development on partial observability and credit assignment, our framework can train the exploration policy efficiently for multi-robot systems. The policy receives individual rewards from actions based on a proximity sensor with limited range and resolution, which is combined with group rewards to encourage collaborative exploration and construction of the Landmark Complex through observation of 0-, 1- and 2-dimensional simplices. In addition, we employ a three-stage curriculum learning strategy to mitigate the reward sparsity by gradually adding random obstacles and destroying random landmarks. Experiments in simulation demonstrate that our method outperforms the state-of-the-art landmark complex exploration method in efficiency among different environments with sparse landmarks.
Towards Bridging the Space Domain Gap for Satellite Pose Estimation using Event Sensing
Venue: arXiv cs.CV 2022
Year: 2022

Deep models trained using synthetic data require domain adaptation to bridge the gap between the simulation and target environments. State-of-the-art domain adaptation methods often demand sufficient amounts of (unlabelled) data from the target domain. However, this need is difficult to fulfil when the target domain is an extreme environment, such as space. In this paper, our target problem is close proximity satellite pose estimation, where it is costly to obtain images of satellites from actual rendezvous missions. We demonstrate that event sensing offers a promising solution to generalise from the simulation to the target domain under stark illumination differences. Our main contribution is an event-based satellite pose estimation technique, trained purely on synthetic event data with basic data augmentation to improve robustness against practical (noisy) event sensors. Underpinning our method is a novel dataset with carefully calibrated ground truth, comprising of real event data obtained by emulating satellite rendezvous scenarios in the lab under drastic lighting conditions. Results on the dataset showed that our event-based satellite pose estimation method, trained only on synthetic data without adaptation, could generalise to the target domain effectively.
Are Machine Programming Systems using Right Source-Code Measures to Select Code Repositories?
Venue: arXiv cs.SE 2022
Year: 2022

Machine programming (MP) is an emerging field at the intersection of deterministic and probabilistic computing, and it aims to assist software and hardware engineers, among other applications. Along with powerful compute resources, MP systems often rely on vast amount of open-source code to learn interesting properties about code and programming and solve problems in the areas of debugging, code recommendation, auto-completion, etc. Unfortunately, several of the existing MP systems either do not consider quality of code repositories or use atypical quality measures than those typically used in software engineering community to select them. As such, impact of quality of code repositories on the performance of these systems needs to be studied. In this preliminary paper, we evaluate impact of different quality repositories on the performance of a candidate MP system. Towards that objective, we develop a framework, named GitRank, to rank open-source repositories on quality, maintainability, and popularity by leveraging existing research on this topic. We then apply GitRank to evaluate correlation between the quality measures used by the candidate MP system and the quality measures used by our framework. Our preliminary results reveal some correlation between the quality measures used in GitRank and ControlFlag's performance, suggesting that some of the measures used in GitRank are applicable to ControlFlag. But it also raises questions around right quality measures for code repositories used in MP systems. We believe that our findings also generate interesting insights towards code quality measures that affect performance of MP systems.
Hybrid Multimodal Fusion for Humor Detection
Venue: arXiv cs.LG 2022
Year: 2022

In this paper, we present our solution to the MuSe-Humor sub-challenge of the Multimodal Emotional Challenge (MuSe) 2022. The goal of the MuSe-Humor sub-challenge is to detect humor and calculate AUC from audiovisual recordings of German football Bundesliga press conferences. It is annotated for humor displayed by the coaches. For this sub-challenge, we first build a discriminant model using the transformer module and BiLSTM module, and then propose a hybrid fusion strategy to use the prediction results of each modality to improve the performance of the model. Our experiments demonstrate the effectiveness of our proposed model and hybrid fusion strategy on multimodal fusion, and the AUC of our proposed model on the test set is 0.8972.
Raising the Bar on the Evaluation of Out-of-Distribution Detection
Venue: arXiv cs.CV 2022
Year: 2022

In image classification, a lot of development has happened in detecting out-of-distribution (OoD) data. However, most OoD detection methods are evaluated on a standard set of datasets, arbitrarily different from training data. There is no clear definition of what forms a ``good" OoD dataset. Furthermore, the state-of-the-art OoD detection methods already achieve near perfect results on these standard benchmarks. In this paper, we define 2 categories of OoD data using the subtly different concepts of perceptual/visual and semantic similarity to in-distribution (iD) data. We define Near OoD samples as perceptually similar but semantically different from iD samples, and Shifted samples as points which are visually different but semantically akin to iD data. We then propose a GAN based framework for generating OoD samples from each of these 2 categories, given an iD dataset. Through extensive experiments on MNIST, CIFAR-10/100 and ImageNet, we show that a) state-of-the-art OoD detection methods which perform exceedingly well on conventional benchmarks are significantly less robust to our proposed benchmark. Moreover, b) models performing well on our setup also perform well on conventional real-world OoD detection benchmarks and vice versa, thereby indicating that one might not even need a separate OoD set, to reliably evaluate performance in OoD detection.
Towards Explainable 3D Grounded Visual Question Answering: A New Benchmark and Strong Baseline
Venue: arXiv cs.CV 2022
Year: 2022

Recently, 3D vision-and-language tasks have attracted increasing research interest. Compared to other vision-and-language tasks, the 3D visual question answering (VQA) task is less exploited and is more susceptible to language priors and co-reference ambiguity. Meanwhile, a couple of recently proposed 3D VQA datasets do not well support 3D VQA task due to their limited scale and annotation methods. In this work, we formally define and address a 3D grounded VQA task by collecting a new 3D VQA dataset, referred to as FE-3DGQA, with diverse and relatively free-form question-answer pairs, as well as dense and completely grounded bounding box annotations. To achieve more explainable answers, we labelled the objects appeared in the complex QA pairs with different semantic types, including answer-grounded objects (both appeared and not appeared in the questions), and contextual objects for answer-grounded objects. We also propose a new 3D VQA framework to effectively predict the completely visually grounded and explainable answer. Extensive experiments verify that our newly collected benchmark datasets can be effectively used to evaluate various 3D VQA methods from different aspects and our newly proposed framework also achieves state-of-the-art performance on the new benchmark dataset. Both the newly collected dataset and our codes will be publicly available at http://github.com/zlccccc/3DGQA.
Graph Representation Learning for Energy Demand Data: Application to Joint Energy System Planning under Emissions Constraints
Venue: arXiv cs.LG 2022
Year: 2022

A rapid transformation of current electric power and natural gas (NG) infrastructure is imperative to meet the mid-century goal of CO2 emissions reduction requires. This necessitates a long-term planning of the joint power-NG system under representative demand and supply patterns, operational constraints, and policy considerations. Our work is motivated by the computational and practical challenges associated with solving the generation and transmission expansion problem (GTEP) for joint planning of power-NG systems. Specifically, we focus on efficiently extracting a set of representative days from power and NG data in respective networks and using this set to reduce the computational burden required to solve the GTEP. We propose a Graph Autoencoder for Multiple time resolution Energy Systems (GAMES) to capture the spatio-temporal demand patterns in interdependent networks and account for differences in the temporal resolution of available data. The resulting embeddings are used in a clustering algorithm to select representative days. We evaluate the effectiveness of our approach in solving a GTEP formulation calibrated for the joint power-NG system in New England. This formulation accounts for the physical interdependencies between power and NG systems, including the joint emissions constraint. Our results show that the set of representative days obtained from GAMES not only allows us to tractably solve the GTEP formulation, but also achieves a lower cost of implementing the joint planning decisions.
Learning robotic cutting from demonstration: Non-holonomic DMPs using the Udwadia-Kalaba method
Venue: arXiv cs.RO 2022
Year: 2022

Dynamic Movement Primitives (DMPs) offer great versatility for encoding, generating and adapting complex end-effector trajectories. DMPs are also very well suited to learning manipulation skills from human demonstration. However, the reactive nature of DMPs restricts their applicability for tool use and object manipulation tasks involving non-holonomic constraints, such as scalpel cutting or catheter steering. In this work, we extend the Cartesian space DMP formulation by adding a coupling term that enforces a pre-defined set of non-holonomic constraints. We obtain the closed-form expression for the constraint forcing term using the Udwadia-Kalaba method. This approach offers a clean and practical solution for guaranteed constraint satisfaction at run-time. Further, the proposed analytical form of the constraint forcing term enables efficient trajectory optimization subject to constraints. We demonstrate the usefulness of this approach by showing how we can learn robotic cutting skills from human demonstration.
Secure Decentralized IoT Service Platform using Consortium Blockchain
Venue: arXiv cs.CR 2022
Year: 2022

Blockchain technology has gained increasing popularity in the research of Internet of Things (IoT) systems in the past decade. As a distributed and immutable ledger secured by strong cryptography algorithms, the blockchain brings a new perspective to secure IoT systems. Many studies have been devoted to integrating blockchain into IoT device management, access control, data integrity, security, and privacy. In comparison, the blockchain-facilitated IoT communication is much less studied. Nonetheless, we see the potential of blockchain in decentralizing and securing IoT communications. This paper proposes an innovative IoT service platform powered by consortium blockchain technology. The presented solution abstracts machine-to-machine (M2M) and human-to-machine (H2M) communications into services provided by IoT devices. Then, it materializes data exchange of the IoT network through smart contracts and blockchain transactions. Additionally, we introduce the auxiliary storage layer to the proposed platform to address various data storage requirements. Our proof-of-concept implementation is tested against various workloads and connection sizes under different block configurations to evaluate the platform's transaction throughput, latency, and hardware utilization. The experiment results demonstrate that our solution can maintain high performance under most testing scenarios and provide valuable insights on optimizing the blockchain configuration to achieve the best performance.
GPatch: Patching Graph Neural Networks for Cold-Start Recommendations
Venue: arXiv cs.IR 2022
Year: 2022

Cold start is an essential and persistent problem in recommender systems. State-of-the-art solutions rely on training hybrid models for both cold-start and existing users/items, based on the auxiliary information. Such a hybrid model would compromise the performance of existing users/items, which might make these solutions not applicable in real-worlds recommender systems where the experience of existing users/items must be guaranteed. Meanwhile, graph neural networks (GNNs) have been demonstrated to perform effectively warm (non-cold-start) recommendations. However, they have never been applied to handle the cold-start problem in a user-item bipartite graph. This is a challenging but rewarding task since cold-start users/items do not have links. Besides, it is nontrivial to design an appropriate GNN to conduct cold-start recommendations while maintaining the performance for existing users/items. To bridge the gap, we propose a tailored GNN-based framework (GPatch) that contains two separate but correlated components. First, an efficient GNN architecture -- GWarmer, is designed to model the warm users/items. Second, we construct correlated Patching Networks to simulate and patch GWarmer by conducting cold-start recommendations. Experiments on benchmark and large-scale commercial datasets demonstrate that GPatch is significantly superior in providing recommendations for both existing and cold-start users/items.
Collaboration of Pre-trained Models Makes Better Few-shot Learner
Venue: arXiv cs.CV 2022
Year: 2022

Few-shot classification requires deep neural networks to learn generalized representations only from limited training images, which is challenging but significant in low-data regimes. Recently, CLIP-based methods have shown promising few-shot performance benefited from the contrastive language-image pre-training. Based on this point, we question if the large-scale pre-training can alleviate the few-shot data deficiency and also assist the representation learning by the pre-learned knowledge. In this paper, we propose CoMo, a Collaboration of pre-trained Models that incorporates diverse prior knowledge from various pre-training paradigms for better few-shot learning. Our CoMo includes: CLIP's language-contrastive knowledge, DINO's vision-contrastive knowledge, and DALL-E's language-generative knowledge. Specifically, CoMo works in two aspects: few-shot data expansion and diverse knowledge ensemble. For one, we generate synthetic images via zero-shot DALL-E to enrich the few-shot training data without any manpower. For the other, we introduce a learnable Multi-Knowledge Adapter (MK-Adapter) to adaptively blend the predictions from CLIP and DINO. By such collaboration, CoMo can fully unleash the potential of different pre-training methods and unify them to perform state-of-the-art for few-shot classification. We conduct extensive experiments on 11 datasets to demonstrate the superiority and generalization ability of our approach.
Barrier functions enable safety-conscious force-feedback control
Venue: arXiv cs.RO 2022
Year: 2022

In order to be effective partners for humans, robots must become increasingly comfortable with making contact with their environment. Unfortunately, it is hard for robots to distinguish between ``just enough'' and ``too much'' force: some force is required to accomplish the task but too much might damage equipment or injure humans. Traditional approaches to designing compliant force-feedback controllers, such as stiffness control, require difficult hand-tuning of control parameters and make it difficult to build safe, effective robot collaborators. In this paper, we propose a novel yet easy-to-implement force feedback controller that uses control barrier functions (CBFs) to derive a compliant controller directly from users' specifications of the maximum allowable forces and torques. We compare our approach to traditional stiffness control to demonstrate potential advantages of our control architecture, and we demonstrate the effectiveness of our controller on an example human-robot collaboration task: cooperative manipulation of a bulky object.
Augmentation based Approximation Algorithms for Flexible Network Design
Venue: arXiv cs.DS 2022
Year: 2022

Adjiashvili introduced network design in a non-uniform fault model: the edge set of a given graph is partitioned into safe and unsafe edges. A vertex pair $(s,t)$ is $(p,q)$-flex-connected if $s$ and $t$ have $p$ edge-connectivity even after the removal of any $q$ unsafe edges. Given a graph $G$, the goal is to choose a min-cost subgraph $H$ of $G$ that has desired flex-connectivity for a given set of vertex pairs. This model generalizes the well-studied edge-connectivity based network design, however, even special cases are provably much harder to approximate. The approximability of network design in this model has been mainly studied for two settings of interest: (i) single pair setting under the names FTP and FTF (fault tolerant path and fault tolerant flow), (ii) spanning setting under the name FGC (flexible graph connectivity). There have been several positive results in these papers. However, despite similarity to the well-known network design problems, this new model has been challenging to design approximation algorithms for, especially when $p,q \ge 2$. We obtain two results that advance our understanding of algorithm design in this model. 1. We obtain a $5$-approximation for the $(2,2)$-flex-connectivity for a single pair $(s,t)$. Previously no non-trivial approximation was known for this setting. 2. We obtain $O(p)$ approximation for $(p,2)$ and $(p,3)$-FGC for any $p \ge 1$, and for $(p,4)$-FGC for any even $p$. We obtain an $O(q)$-approximation for $(2,q)$-FGC for any $q \ge 1$. Previously only a $O(q \log n)$-approximation was known for these settings. Our results are obtained via the augmentation framework where we identify a structured way to use the well-known $2$-approximation for covering uncrossable families of cuts. Our analysis also proves corresponding integrality gap bounds on an LP relaxation that we formulate.
VAESim: A probabilistic approach for self-supervised prototype discovery
Venue: arXiv cs.CV 2022
Year: 2022

In medicine, curated image datasets often employ discrete labels to describe what is known to be a continuous spectrum of healthy to pathological conditions, such as e.g. the Alzheimer's Disease Continuum or other areas where the image plays a pivotal point in diagnosis. We propose an architecture for image stratification based on a conditional variational autoencoder. Our framework, VAESim, leverages a continuous latent space to represent the continuum of disorders and finds clusters during training, which can then be used for image/patient stratification. The core of the method learns a set of prototypical vectors, each associated with a cluster. First, we perform a soft assignment of each data sample to the clusters. Then, we reconstruct the sample based on a similarity measure between the sample embedding and the prototypical vectors of the clusters. To update the prototypical embeddings, we use an exponential moving average of the most similar representations between actual prototypes and samples in the batch size. We test our approach on the MNIST-handwritten digit dataset and on a medical benchmark dataset called PneumoniaMNIST. We demonstrate that our method outperforms baselines in terms of kNN accuracy measured on a classification task against a standard VAE (up to 15% improvement in performance) in both datasets, and also performs at par with classification models trained in a fully supervised way. We also demonstrate how our model outperforms current, end-to-end models for unsupervised stratification.
Social Assistive Robotics for Autistic Children
Venue: arXiv cs.RO 2022
Year: 2022

This paper introduces the project Social Assistive Robotics for Autistic Children aimed at using robotic therapy for autism. The goal of the project is testing autistic children's interactions with the social robot NAO. In particular the robot will support the operators (psychologists, educators, speech therapists etc.) in their work. The innovative aspect of the project is that the children robot interaction will consider the children's emotions and specific features and the robot will adapt its behavior accordingly.
Temporally Extended Successor Representations
Venue: arXiv cs.LG 2022
Year: 2022

We present a temporally extended variation of the successor representation, which we term t-SR. t-SR captures the expected state transition dynamics of temporally extended actions by constructing successor representations over primitive action repeats. This form of temporal abstraction does not learn a top-down hierarchy of pertinent task structures, but rather a bottom-up composition of coupled actions and action repetitions. This lessens the amount of decisions required in control without learning a hierarchical policy. As such, t-SR directly considers the time horizon of temporally extended action sequences without the need for predefined or domain-specific options. We show that in environments with dynamic reward structure, t-SR is able to leverage both the flexibility of the successor representation and the abstraction afforded by temporally extended actions. Thus, in a series of sparsely rewarded gridworld environments, t-SR optimally adapts learnt policies far faster than comparable value-based, model-free reinforcement learning methods. We also show that the manner in which t-SR learns to solve these tasks requires the learnt policy to be sampled consistently less often than non-temporally extended policies.