OpenRaiser/Intern-Atlas huggingface dataset:
The Optimization of the Constant Flow Parallel Micropump Using RBF Neural Network
Venue: arXiv cs.LG 2023
Year: 2023

The objective of this work is to optimize the performance of a constant flow parallel mechanical displacement micropump, which has parallel pump chambers and incorporates passive check valves. The critical task is to minimize the pressure pulse caused by regurgitation, which negatively impacts the constant flow rate, during the reciprocating motion when the left and right pumps interchange their role of aspiration and transfusion. Previous works attempt to solve this issue via the mechanical design of passive check valves. In this work, the novel concept of overlap time is proposed, and the issue is solved from the aspect of control theory by implementing a RBF neural network trained by both unsupervised and supervised learning. The experimental results indicate that the pressure pulse is optimized in the range of 0.15 - 0.25 MPa, which is a significant improvement compared to the maximum pump working pressure of 40 MPa.
Initial Test of "BabyRobot" Behaviour on a Teleoperated Toy Substitution: Improving the Motor Skills of Toddlers
Venue: arXiv cs.RO 2023
Year: 2023

This article introduces "Baby Robot", a robot aiming to improve motor skills of babies and toddlers. Authors developed a car-like toy that moves autonomously using reinforcement learning and computer vision techniques. The robot behaviour is to escape from a target baby that has been previously recognized, or at least detected, while avoiding obstacles, so that the security of the baby is not compromised. A myriad of commercial toys with a similar mobility improvement purpose are into the market; however, there is no one that bets for an intelligent autonomous movement, as they perform simple yet repetitive trajectories in the best of the cases. Two crawling toys -- one in representation of "Baby Robot" -- were tested in a real environment with respect to regular toys in order to check how they improved the toddlers mobility. These real-life experiments were conducted with our proposed robot in a kindergarten, where a group of children interacted with the toys. Significant improvement in the motion skills of participants were detected.
Robust Extrinsic Symmetry Estimation in 3D Point Clouds
Venue: arXiv cs.CV 2023
Year: 2023

Detecting the reflection symmetry plane of an object represented by a 3D point cloud is a fundamental problem in 3D computer vision and geometry processing due to its various applications, such as compression, object detection, robotic grasping, 3D surface reconstruction, etc. There exist several efficient approaches for solving this problem for clean 3D point clouds. However, it is a challenging problem to solve in the presence of outliers and missing parts. The existing methods try to overcome this challenge mostly by voting-based techniques but do not work efficiently. In this work, we proposed a statistical estimator-based approach for the plane of reflection symmetry that is robust to outliers and missing parts. We pose the problem of finding the optimal estimator for the reflection symmetry as an optimization problem on a 2-Sphere that quickly converges to the global solution for an approximate initialization. We further adapt the heat kernel signature for symmetry invariant matching of mirror symmetric points. This approach helps us to decouple the chicken-and-egg problem of finding the optimal symmetry plane and correspondences between the reflective symmetric points. The proposed approach achieves comparable mean ground-truth error and 4.5\% increment in the F-score as compared to the state-of-the-art approaches on the benchmark dataset.
Scenario generation for market risk models using generative neural networks
Venue: arXiv cs.LG 2023
Year: 2023

In this research, we show how to expand existing approaches of using generative adversarial networks (GANs) as economic scenario generators (ESG) to a whole internal market risk model - with enough risk factors to model the full band-width of investments for an insurance company and for a one year time horizon as required in Solvency 2. We demonstrate that the results of a GAN-based internal model are similar to regulatory approved internal models in Europe. Therefore, GAN-based models can be seen as a data-driven alternative way of market risk modeling.
Conditional Poisson Stochastic Beam Search
Venue: arXiv cs.CL 2023
Year: 2023

Beam search is the default decoding strategy for many sequence generation tasks in NLP. The set of approximate K-best items returned by the algorithm is a useful summary of the distribution for many applications; however, the candidates typically exhibit high overlap and may give a highly biased estimate for expectations under our model. These problems can be addressed by instead using stochastic decoding strategies. In this work, we propose a new method for turning beam search into a stochastic process: Conditional Poisson stochastic beam search. Rather than taking the maximizing set at each iteration, we sample K candidates without replacement according to the conditional Poisson sampling design. We view this as a more natural alternative to Kool et. al. 2019's stochastic beam search (SBS). Furthermore, we show how samples generated under the CPSBS design can be used to build consistent estimators and sample diverse sets from sequence models. In our experiments, we observe CPSBS produces lower variance and more efficient estimators than SBS, even showing improvements in high entropy settings.
Physics-informed neural networks for one-dimensional sound field predictions with parameterized sources and impedance boundaries
Venue: arXiv cs.SD 2023
Year: 2023

Realistic sound is essential in virtual environments, such as computer games and mixed reality. Efficient and accurate numerical methods for pre-calculating acoustics have been developed over the last decade; however, pre-calculating acoustics makes handling dynamic scenes with moving sources challenging, requiring intractable memory storage. A physics-informed neural network (PINN) method in 1D is presented, which learns a compact and efficient surrogate model with parameterized moving Gaussian sources and impedance boundaries, and satisfies a system of coupled equations. The model shows relative mean errors below 2%/0.2 dB and proposes a first step in developing PINNs for realistic 3D scenes.
SimpleX: A Simple and Strong Baseline for Collaborative Filtering
Venue: arXiv cs.IR 2023
Year: 2023

Collaborative filtering (CF) is a widely studied research topic in recommender systems. The learning of a CF model generally depends on three major components, namely interaction encoder, loss function, and negative sampling. While many existing studies focus on the design of more powerful interaction encoders, the impacts of loss functions and negative sampling ratios have not yet been well explored. In this work, we show that the choice of loss function as well as negative sampling ratio is equivalently important. More specifically, we propose the cosine contrastive loss (CCL) and further incorporate it to a simple unified CF model, dubbed SimpleX. Extensive experiments have been conducted on 11 benchmark datasets and compared with 29 existing CF models in total. Surprisingly, the results show that, under our CCL loss and a large negative sampling ratio, SimpleX can surpass most sophisticated state-of-the-art models by a large margin (e.g., max 48.5% improvement in NDCG@20 over LightGCN). We believe that SimpleX could not only serve as a simple strong baseline to foster future research on CF, but also shed light on the potential research direction towards improving loss function and negative sampling. Our source code will be available at https://reczoo.github.io/SimpleX.
Robust Coordination of Linear Threshold Dynamics on Directed Weighted Networks
Venue: arXiv cs.GT 2023
Year: 2023

We study asynchronous dynamics in a network of interacting agents updating their binary states according to a time-varying threshold rule. Specifically, agents revise their state asynchronously by comparing the weighted average of the current states of their neighbors in the interaction network with possibly heterogeneous time-varying threshold values. Such thresholds are determined by an exogenous signal representing an external influence field modeling the different agents' biases towards one state with respect to the other one. We prove necessary and sufficient conditions for global stability of consensus equilibria, i.e., equilibria where all agents have the same state, robustly with respect to the (constant or time-varying) external field. Our results apply to general weighted directed interaction networks and build on super-modularity properties of certain network coordination games whose best response dynamics coincide with the linear threshold dynamics. In particular, we introduce a novel notion of robust improvement paths for such games and characterize conditions for their existence.
The Tensor Brain: A Unified Theory of Perception, Memory and Semantic Decoding
Venue: arXiv cs.AI 2023
Year: 2023

We present a unified computational theory of an agent's perception and memory. In our model, perception, episodic memory, and semantic memory are realized by different operational modes of the oscillating interactions between a symbolic index layer and a subsymbolic representation layer. The two layers form a bilayer tensor network (BTN). Although memory appears to be about the past, its main purpose is to support the agent in the present and the future. Recent episodic memory provides the agent with a sense of the here and now. Remote episodic memory retrieves relevant past experiences to provide information about possible future scenarios. This aids the agent in decision-making. "Future" episodic memory, based on expected future events, guides planning and action. Semantic memory retrieves specific information, which is not delivered by current perception, and defines priors for future observations. We argue that it is important for the agent to encode individual entities, not just classes and attributes. We demonstrate that a form of self-supervised learning can acquire new concepts and refine existing ones. We test our model on a standard benchmark data set, which we expanded to contain richer representations for attributes, classes, and individuals. Our key hypothesis is that obtaining a better understanding of perception and memory is a crucial prerequisite to comprehending human-level intelligence.
Road Network Guided Fine-Grained Urban Traffic Flow Inference
Venue: arXiv cs.LG 2023
Year: 2023

Accurate inference of fine-grained traffic flow from coarse-grained one is an emerging yet crucial problem, which can help greatly reduce the number of the required traffic monitoring sensors for cost savings. In this work, we notice that traffic flow has a high correlation with road network, which was either completely ignored or simply treated as an external factor in previous works. To facilitate this problem, we propose a novel Road-Aware Traffic Flow Magnifier (RATFM) that explicitly exploits the prior knowledge of road networks to fully learn the road-aware spatial distribution of fine-grained traffic flow. Specifically, a multi-directional 1D convolutional layer is first introduced to extract the semantic feature of the road network. Subsequently, we incorporate the road network feature and coarse-grained flow feature to regularize the short-range spatial distribution modeling of road-relative traffic flow. Furthermore, we take the road network feature as a query to capture the long-range spatial distribution of traffic flow with a transformer architecture. Benefiting from the road-aware inference mechanism, our method can generate high-quality fine-grained traffic flow maps. Extensive experiments on three real-world datasets show that the proposed RATFM outperforms state-of-the-art models under various scenarios. Our code and datasets are released at {\url{https://github.com/luimoli/RATFM}}.
Batch Belief Trees for Motion Planning Under Uncertainty
Venue: arXiv cs.RO 2023
Year: 2023

In this work, we develop the Batch Belief Trees (BBT) algorithm for motion planning under motion and sensing uncertainties. The algorithm interleaves between batch sampling, building a graph of nominal trajectories in the state space, and searching over the graph to find belief space motion plans. By searching over the graph, BBT finds sophisticated plans that will visit (and revisit) information-rich regions to reduce uncertainty. One of the key benefits of this algorithm is the modified interplay between exploration and exploitation. Instead of an exhaustive search (exploitation) after one exploration step, the proposed algorithm uses batch samples to explore the state space and, in addition, does not require exhaustive search before the next iteration of batch sampling, which adds flexibility.The algorithm finds motion plans that converge to the optimal one as more samples are added to the graph. We test BBT in different planning environments. Our numerical investigation confirms that BBT finds non-trivial motion plans and is faster compared with previous similar methods.
Inductive Representation Learning in Temporal Networks via Mining Neighborhood and Community Influences
Venue: arXiv cs.SI 2023
Year: 2023

Network representation learning aims to generate an embedding for each node in a network, which facilitates downstream machine learning tasks such as node classification and link prediction. Current work mainly focuses on transductive network representation learning, i.e. generating fixed node embeddings, which is not suitable for real-world applications. Therefore, we propose a new inductive network representation learning method called MNCI by mining neighborhood and community influences in temporal networks. We propose an aggregator function that integrates neighborhood influence with community influence to generate node embeddings at any time. We conduct extensive experiments on several real-world datasets and compare MNCI with several state-of-the-art baseline methods on various tasks, including node classification and network visualization. The experimental results show that MNCI achieves better performance than baselines.
From SLAM to Situational Awareness: Challenges and Survey
Venue: arXiv cs.RO 2023
Year: 2023

The capability of a mobile robot to efficiently and safely perform complex missions is limited by its knowledge of the environment, namely the situation. Advanced reasoning, decision-making, and execution skills enable an intelligent agent to act autonomously in unknown environments. Situational Awareness (SA) is a fundamental capability of humans that has been deeply studied in various fields, such as psychology, military, aerospace, and education. Nevertheless, it has yet to be considered in robotics, which has focused on single compartmentalized concepts such as sensing, spatial perception, sensor fusion, state estimation, and Simultaneous Localization and Mapping (SLAM). Hence, the present research aims to connect the broad multidisciplinary existing knowledge to pave the way for a complete SA system for mobile robotics that we deem paramount for autonomy. To this aim, we define the principal components to structure a robotic SA and their area of competence. Accordingly, this paper investigates each aspect of SA, surveying the state-of-the-art robotics algorithms that cover them, and discusses their current limitations. Remarkably, essential aspects of SA are still immature since the current algorithmic development restricts their performance to only specific environments. Nevertheless, Artificial Intelligence (AI), particularly Deep Learning (DL), has brought new methods to bridge the gap that maintains these fields apart from the deployment to real-world scenarios. Furthermore, an opportunity has been discovered to interconnect the vastly fragmented space of robotic comprehension algorithms through the mechanism of Situational Graph (S-Graph), a generalization of the well-known scene graph. Therefore, we finally shape our vision for the future of robotic Situational Awareness by discussing interesting recent research directions.
Examining Similar and Ideologically Correlated Imagery in Online Political Communication
Venue: arXiv cs.CY 2023
Year: 2023

This paper investigates visual media shared by US national politicians on Twitter, how a politician's variety of image types shared reflects their political position, and identifies a hazard in using standard methods for image characterization in this context. While past work has yielded valuable results on politicians' use of imagery in social media, that work has focused primarily on photographic media, which may be insufficient given the variety of visual media shared in such spaces (e.g., infographics, illustrations, or memes). Leveraging multiple popular, pre-trained, deep-learning models to characterize politicians' visuals, this work uses clustering to identify eight types of visual media shared on Twitter, several of which are not photographic in nature. Results show individual politicians share a variety of these types, and the distributions of their imagery across these clusters is correlated with their overall ideological position -- e.g., liberal politicians appear to share a larger proportion of infographic-style images, and conservative politicians appear to share more patriotic imagery. Manual assessment, however, reveals that these image-characterization models often group visually similar images with different semantic meaning into the same clusters, which has implications for how researchers interpret clusters in this space and cluster-based correlations with political ideology. In particular, collapsing semantic meaning in these pre-trained models may drive null findings on certain clusters of images rather than politicians across the ideological spectrum sharing common types of imagery. We end this paper with a set of researcher recommendations to prevent such issues.
Benchmarking Memory-Centric Computing Systems: Analysis of Real Processing-in-Memory Hardware
Venue: arXiv cs.AR 2023
Year: 2023

Many modern workloads such as neural network inference and graph processing are fundamentally memory-bound. For such workloads, data movement between memory and CPU cores imposes a significant overhead in terms of both latency and energy. A major reason is that this communication happens through a narrow bus with high latency and limited bandwidth, and the low data reuse in memory-bound workloads is insufficient to amortize the cost of memory access. Fundamentally addressing this data movement bottleneck requires a paradigm where the memory system assumes an active role in computing by integrating processing capabilities. This paradigm is known as processing-in-memory (PIM). Recent research explores different forms of PIM architectures, motivated by the emergence of new technologies that integrate memory with a logic layer, where processing elements can be easily placed. Past works evaluate these architectures in simulation or, at best, with simplified hardware prototypes. In contrast, the UPMEM company has designed and manufactured the first publicly-available real-world PIM architecture. The UPMEM PIM architecture combines traditional DRAM memory arrays with general-purpose in-order cores, called DRAM Processing Units (DPUs), integrated in the same chip. This paper presents key takeaways from the first comprehensive analysis of the first publicly-available real-world PIM architecture. We provide four key takeaways about the UPMEM PIM architecture, which stem from our study. More insights about suitability of different workloads to the PIM system, programming recommendations for software designers, and suggestions and hints for hardware and architecture designers of future PIM systems are available in arXiv:2105.03814
Towards Open-World Feature Extrapolation: An Inductive Graph Learning Approach
Venue: arXiv cs.LG 2023
Year: 2023

We target open-world feature extrapolation problem where the feature space of input data goes through expansion and a model trained on partially observed features needs to handle new features in test data without further retraining. The problem is of much significance for dealing with features incrementally collected from different fields. To this end, we propose a new learning paradigm with graph representation and learning. Our framework contains two modules: 1) a backbone network (e.g., feedforward neural nets) as a lower model takes features as input and outputs predicted labels; 2) a graph neural network as an upper model learns to extrapolate embeddings for new features via message passing over a feature-data graph built from observed data. Based on our framework, we design two training strategies, a self-supervised approach and an inductive learning approach, to endow the model with extrapolation ability and alleviate feature-level over-fitting. We also provide theoretical analysis on the generalization error on test data with new features, which dissects the impact of training features and algorithms on generalization performance. Our experiments over several classification datasets and large-scale advertisement click prediction datasets demonstrate that our model can produce effective embeddings for unseen features and significantly outperforms baseline methods that adopt KNN and local aggregation.
Discriminative Multimodal Learning via Conditional Priors in Generative Models
Venue: arXiv cs.LG 2023
Year: 2023

Deep generative models with latent variables have been used lately to learn joint representations and generative processes from multi-modal data. These two learning mechanisms can, however, conflict with each other and representations can fail to embed information on the data modalities. This research studies the realistic scenario in which all modalities and class labels are available for model training, but where some modalities and labels required for downstream tasks are missing. We show, in this scenario, that the variational lower bound limits mutual information between joint representations and missing modalities. We, to counteract these problems, introduce a novel conditional multi-modal discriminative model that uses an informative prior distribution and optimizes a likelihood-free objective function that maximizes mutual information between joint representations and missing modalities. Extensive experimentation demonstrates the benefits of our proposed model, empirical results show that our model achieves state-of-the-art results in representative problems such as downstream classification, acoustic inversion, and image and annotation generation.
MARVEL: Raster Manga Vectorization via Primitive-wise Deep Reinforcement Learning
Venue: arXiv cs.CV 2023
Year: 2023

Manga is a fashionable Japanese-style comic form that is composed of black-and-white strokes and is generally displayed as raster images on digital devices. Typical mangas have simple textures, wide lines, and few color gradients, which are vectorizable natures to enjoy the merits of vector graphics, e.g., adaptive resolutions and small file sizes. In this paper, we propose MARVEL (MAnga's Raster to VEctor Learning), a primitive-wise approach for vectorizing raster mangas by Deep Reinforcement Learning (DRL). Unlike previous learning-based methods which predict vector parameters for an entire image, MARVEL introduces a new perspective that regards an entire manga as a collection of basic primitives\textemdash stroke lines, and designs a DRL model to decompose the target image into a primitive sequence for achieving accurate vectorization. To improve vectorization accuracies and decrease file sizes, we further propose a stroke accuracy reward to predict accurate stroke lines, and a pruning mechanism to avoid generating erroneous and repeated strokes. Extensive subjective and objective experiments show that our MARVEL can generate impressive results and reaches the state-of-the-art level. Our code is open-source at: https://github.com/SwordHolderSH/Mang2Vec.