OpenRaiser/Intern-Atlas huggingface dataset:
A Holistic Approach to Reactive Mobile Manipulation
Venue: arXiv cs.RO 2022
Year: 2022

We present the design and implementation of a taskable reactive mobile manipulation system. In contrary to related work, we treat the arm and base degrees of freedom as a holistic structure which greatly improves the speed and fluidity of the resulting motion. At the core of this approach is a robust and reactive motion controller which can achieve a desired end-effector pose, while avoiding joint position and velocity limits, and ensuring the mobile manipulator is manoeuvrable throughout the trajectory. This can support sensor-based behaviours such as closed-loop visual grasping. As no planning is involved in our approach, the robot is never stationary thinking about what to do next. We show the versatility of our holistic motion controller by implementing a pick and place system using behaviour trees and demonstrate this task on a 9-degree-of-freedom mobile manipulator. Additionally, we provide an open-source implementation of our motion controller for both non-holonomic and omnidirectional mobile manipulators available at jhavl.github.io/holistic.
Mesh convolutional neural networks for wall shear stress estimation in 3D artery models
Venue: arXiv cs.LG 2022
Year: 2022

Computational fluid dynamics (CFD) is a valuable tool for personalised, non-invasive evaluation of hemodynamics in arteries, but its complexity and time-consuming nature prohibit large-scale use in practice. Recently, the use of deep learning for rapid estimation of CFD parameters like wall shear stress (WSS) on surface meshes has been investigated. However, existing approaches typically depend on a hand-crafted re-parametrisation of the surface mesh to match convolutional neural network architectures. In this work, we propose to instead use mesh convolutional neural networks that directly operate on the same finite-element surface mesh as used in CFD. We train and evaluate our method on two datasets of synthetic coronary artery models with and without bifurcation, using a ground truth obtained from CFD simulation. We show that our flexible deep learning model can accurately predict 3D WSS vectors on this surface mesh. Our method processes new meshes in less than 5 [s], consistently achieves a normalised mean absolute error of $\leq$ 1.6 [%], and peaks at 90.5 [%] median approximation accuracy over the held-out test set, comparing favourably to previously published work. This demonstrates the feasibility of CFD surrogate modelling using mesh convolutional neural networks for hemodynamic parameter estimation in artery models.
D-REX: Dialogue Relation Extraction with Explanations
Venue: arXiv cs.CL 2022
Year: 2022

Existing research studies on cross-sentence relation extraction in long-form multi-party conversations aim to improve relation extraction without considering the explainability of such methods. This work addresses that gap by focusing on extracting explanations that indicate that a relation exists while using only partially labeled data. We propose our model-agnostic framework, D-REX, a policy-guided semi-supervised algorithm that explains and ranks relations. We frame relation extraction as a re-ranking task and include relation- and entity-specific explanations as an intermediate step of the inference process. We find that about 90% of the time, human annotators prefer D-REX's explanations over a strong BERT-based joint relation extraction and explanation model. Finally, our evaluations on a dialogue relation extraction dataset show that our method is simple yet effective and achieves a state-of-the-art F1 score on relation extraction, improving upon existing methods by 13.5%.
RobustART: Benchmarking Robustness on Architecture Design and Training Techniques
Venue: arXiv cs.CV 2022
Year: 2022

Deep neural networks (DNNs) are vulnerable to adversarial noises, which motivates the benchmark of model robustness. Existing benchmarks mainly focus on evaluating defenses, but there are no comprehensive studies of how architecture design and training techniques affect robustness. Comprehensively benchmarking their relationships is beneficial for better understanding and developing robust DNNs. Thus, we propose RobustART, the first comprehensive Robustness investigation benchmark on ImageNet regarding ARchitecture design (49 human-designed off-the-shelf architectures and 1200+ networks from neural architecture search) and Training techniques (10+ techniques, e.g., data augmentation) towards diverse noises (adversarial, natural, and system noises). Extensive experiments substantiated several insights for the first time, e.g., (1) adversarial training is effective for the robustness against all noises types for Transformers and MLP-Mixers; (2) given comparable model sizes and aligned training settings, CNNs > Transformers > MLP-Mixers on robustness against natural and system noises; Transformers > MLP-Mixers > CNNs on adversarial robustness; (3) for some light-weight architectures, increasing model sizes or using extra data cannot improve robustness. Our benchmark presents: (1) an open-source platform for comprehensive robustness evaluation; (2) a variety of pre-trained models to facilitate robustness evaluation; and (3) a new view to better understand the mechanism towards designing robust DNNs. We will continuously develop to this ecosystem for the community.
Space Meets Time: Local Spacetime Neural Network For Traffic Flow Forecasting
Venue: arXiv cs.LG 2022
Year: 2022

Traffic flow forecasting is a crucial task in urban computing. The challenge arises as traffic flows often exhibit intrinsic and latent spatio-temporal correlations that cannot be identified by extracting the spatial and temporal patterns of traffic data separately. We argue that such correlations are universal and play a pivotal role in traffic flow. We put forward {spacetime interval learning} as a paradigm to explicitly capture these correlations through a unified analysis of both spatial and temporal features. Unlike the state-of-the-art methods, which are restricted to a particular road network, we model the universal spatio-temporal correlations that are transferable from cities to cities. To this end, we propose a new spacetime interval learning framework that constructs a local-spacetime context of a traffic sensor comprising the data from its neighbors within close time points. Based on this idea, we introduce local spacetime neural network (STNN), which employs novel spacetime convolution and attention mechanism to learn the universal spatio-temporal correlations. The proposed STNN captures local traffic patterns, which does not depend on a specific network structure. As a result, a trained STNN model can be applied on any unseen traffic networks. We evaluate the proposed STNN on two public real-world traffic datasets and a simulated dataset on dynamic networks. The experiment results show that STNN not only improves prediction accuracy by 4% over state-of-the-art methods, but is also effective in handling the case when the traffic network undergoes dynamic changes as well as the superior generalization capability.
ADNet: Leveraging Error-Bias Towards Normal Direction in Face Alignment
Venue: arXiv cs.CV 2022
Year: 2022

The recent progress of CNN has dramatically improved face alignment performance. However, few works have paid attention to the error-bias with respect to error distribution of facial landmarks. In this paper, we investigate the error-bias issue in face alignment, where the distributions of landmark errors tend to spread along the tangent line to landmark curves. This error-bias is not trivial since it is closely connected to the ambiguous landmark labeling task. Inspired by this observation, we seek a way to leverage the error-bias property for better convergence of CNN model. To this end, we propose anisotropic direction loss (ADL) and anisotropic attention module (AAM) for coordinate and heatmap regression, respectively. ADL imposes strong binding force in normal direction for each landmark point on facial boundaries. On the other hand, AAM is an attention module which can get anisotropic attention mask focusing on the region of point and its local edge connected by adjacent points, it has a stronger response in tangent than in normal, which means relaxed constraints in the tangent. These two methods work in a complementary manner to learn both facial structures and texture details. Finally, we integrate them into an optimized end-to-end training pipeline named ADNet. Our ADNet achieves state-of-the-art results on 300W, WFLW and COFW datasets, which demonstrates the effectiveness and robustness.
Global-Local Dynamic Feature Alignment Network for Person Re-Identification
Venue: arXiv cs.CV 2022
Year: 2022

The misalignment of human images caused by bounding box detection errors or partial occlusions is one of the main challenges in person Re-Identification (Re-ID) tasks. Previous local-based methods mainly focus on learning local features in predefined semantic regions of pedestrians. These methods usually use local hard alignment methods or introduce auxiliary information such as key human pose points to match local features, which are often not applicable when large scene differences are encountered. To solve these problems, we propose a simple and efficient Local Sliding Alignment (LSA) strategy to dynamically align the local features of two images by setting a sliding window on the local stripes of the pedestrian. LSA can effectively suppress spatial misalignment and does not need to introduce extra supervision information. Then, we design a Global-Local Dynamic Feature Alignment Network (GLDFA-Net) framework, which contains both global and local branches. We introduce LSA into the local branch of GLDFA-Net to guide the computation of distance metrics, which can further improve the accuracy of the testing phase. Evaluation experiments on several mainstream evaluation datasets including Market-1501, DukeMTMC-reID, CUHK03 and MSMT17 show that our method has competitive accuracy over the several state-of-the-art person Re-ID methods. Specifically, it achieves 86.1% mAP and 94.8% Rank-1 accuracy on Market1501.
Augmenting Decision Making via Interactive What-If Analysis
Venue: arXiv cs.DB 2022
Year: 2022

The fundamental goal of business data analysis is to improve business decisions using data. Business users often make decisions to achieve key performance indicators (KPIs) such as increasing customer retention or sales, or decreasing costs. To discover the relationship between data attributes hypothesized to be drivers and those corresponding to KPIs of interest, business users currently need to perform lengthy exploratory analyses. This involves considering multitudes of combinations and scenarios and performing slicing, dicing, and transformations on the data accordingly, e.g., analyzing customer retention across quarters of the year or suggesting optimal media channels across strata of customers. However, the increasing complexity of datasets combined with the cognitive limitations of humans makes it challenging to carry over multiple hypotheses, even for simple datasets. Therefore mentally performing such analyses is hard. Existing commercial tools either provide partial solutions or fail to cater to business users altogether. Here we argue for four functionalities to enable business users to interactively learn and reason about the relationships between sets of data attributes thereby facilitating data-driven decision making. We implement these functionalities in SystemD, an interactive visual data analysis system enabling business users to experiment with the data by asking what-if questions. We evaluate the system through three business use cases: marketing mix modeling, customer retention analysis, and deal closing analysis, and report on feedback from multiple business users. Users find the SystemD functionalities highly useful for quick testing and validation of their hypotheses around their KPIs of interest, addressing their unmet analysis needs. The feedback also suggests that the UX design can be enhanced to further improve the understandability of these functionalities.
Uncertainty-Aware Machine Translation Evaluation
Venue: arXiv cs.CL 2022
Year: 2022

Several neural-based metrics have been recently proposed to evaluate machine translation quality. However, all of them resort to point estimates, which provide limited information at segment level. This is made worse as they are trained on noisy, biased and scarce human judgements, often resulting in unreliable quality predictions. In this paper, we introduce uncertainty-aware MT evaluation and analyze the trustworthiness of the predicted quality. We combine the COMET framework with two uncertainty estimation methods, Monte Carlo dropout and deep ensembles, to obtain quality scores along with confidence intervals. We compare the performance of our uncertainty-aware MT evaluation methods across multiple language pairs from the QT21 dataset and the WMT20 metrics task, augmented with MQM annotations. We experiment with varying numbers of references and further discuss the usefulness of uncertainty-aware quality estimation (without references) to flag possibly critical translation mistakes.
On Distributed Learning with Constant Communication Bits
Venue: arXiv cs.IT 2022
Year: 2022

In this paper, we study a distributed learning problem constrained by constant communication bits. Specifically, we consider the distributed hypothesis testing (DHT) problem where two distributed nodes are constrained to transmit a constant number of bits to a central decoder. In such cases, we show that in order to achieve the optimal error exponents, it suffices to consider the empirical distributions of observed data sequences and encode them to the transmission bits. With such a coding strategy, we develop a geometric approach in the distribution spaces and establish an inner bound of error exponent regions. In particular, we show the optimal achievable error exponents and coding schemes for the following cases: (i) both nodes can transmit $\log_23$ bits; (ii) one of the nodes can transmit $1$ bit, and the other node is not constrained; (iii) the joint distribution of the nodes are conditionally independent given one hypothesis. Furthermore, we provide several numerical examples for illustrating the theoretical results. Our results provide theoretical guidance for designing practical distributed learning rules, and the developed approach also reveals new potentials for establishing error exponents for DHT with more general communication constraints.
Detecting Multi-Sensor Fusion Errors in Advanced Driver-Assistance Systems
Venue: arXiv cs.RO 2022
Year: 2022

Advanced Driver-Assistance Systems (ADAS) have been thriving and widely deployed in recent years. In general, these systems receive sensor data, compute driving decisions, and output control signals to the vehicles. To smooth out the uncertainties brought by sensor outputs, they usually leverage multi-sensor fusion (MSF) to fuse the sensor outputs and produce a more reliable understanding of the surroundings. However, MSF cannot completely eliminate the uncertainties since it lacks the knowledge about which sensor provides the most accurate data and how to optimally integrate the data provided by the sensors. As a result, critical consequences might happen unexpectedly. In this work, we observed that the popular MSF methods in an industry-grade ADAS can mislead the car control and result in serious safety hazards. We define the failures (e.g., car crashes) caused by the faulty MSF as fusion errors and develop a novel evolutionary-based domain-specific search framework, FusED, for the efficient detection of fusion errors. We further apply causality analysis to show that the found fusion errors are indeed caused by the MSF method. We evaluate our framework on two widely used MSF methods in two driving environments. Experimental results show that FusED identifies more than 150 fusion errors. Finally, we provide several suggestions to improve the MSF methods we study.
Space Time Recurrent Memory Network
Venue: arXiv cs.CV 2022
Year: 2022

Transformers have recently been popular for learning and inference in the spatial-temporal domain. However, their performance relies on storing and applying attention to the feature tensor of each frame in video. Hence, their space and time complexity increase linearly as the length of video grows, which could be very costly for long videos. We propose a novel visual memory network architecture for the learning and inference problem in the spatial-temporal domain. We maintain a fixed set of memory slots in our memory network and propose an algorithm based on Gumbel-Softmax to learn an adaptive strategy to update this memory. Finally, this architecture is benchmarked on the video object segmentation (VOS) and video prediction problems. We demonstrate that our memory architecture achieves state-of-the-art results, outperforming transformer-based methods on VOS and other recent methods on video prediction while maintaining constant memory capacity independent of the sequence length.
Controllable Dialogue Generation with Disentangled Multi-grained Style Specification and Attribute Consistency Reward
Venue: arXiv cs.CL 2022
Year: 2022

Controllable text generation is an appealing but challenging task, which allows users to specify particular attributes of the generated outputs. In this paper, we propose a controllable dialogue generation model to steer response generation under multi-attribute constraints. Specifically, we define and categorize the commonly used control attributes into global and local ones, which possess different granularities of effects on response generation. Then, we significantly extend the conventional seq2seq framework by introducing a novel two-stage decoder, which first uses a multi-grained style specification layer to impose the stylistic constraints and determine word-level control states of responses based on the attributes, and then employs a response generation layer to generate final responses maintaining both semantic relevancy to the contexts and fidelity to the attributes. Furthermore, we train our model with an attribute consistency reward to promote response control with explicit supervision signals. Extensive experiments and in-depth analyses on two datasets indicate that our model can significantly outperform competitive baselines in terms of response quality, content diversity and controllability.
Cross-speaker emotion disentangling and transfer for end-to-end speech synthesis
Venue: arXiv cs.SD 2022
Year: 2022

The cross-speaker emotion transfer task in text-to-speech (TTS) synthesis particularly aims to synthesize speech for a target speaker with the emotion transferred from reference speech recorded by another (source) speaker. During the emotion transfer process, the identity information of the source speaker could also affect the synthesized results, resulting in the issue of speaker leakage. This paper proposes a new method with the aim to synthesize controllable emotional expressive speech and meanwhile maintain the target speaker's identity in the cross-speaker emotion TTS task. The proposed method is a Tacotron2-based framework with emotion embedding as the conditioning variable to provide emotion information. Two emotion disentangling modules are contained in our method to 1) get speaker-irrelevant and emotion-discriminative embedding, and 2) explicitly constrain the emotion and speaker identity of synthetic speech to be that as expected. Moreover, we present an intuitive method to control the emotion strength in the synthetic speech for the target speaker. Specifically, the learned emotion embedding is adjusted with a flexible scalar value, which allows controlling the emotion strength conveyed by the embedding. Extensive experiments have been conducted on a Mandarin disjoint corpus, and the results demonstrate that the proposed method is able to synthesize reasonable emotional speech for the target speaker. Compared to the state-of-the-art reference embedding learned methods, our method gets the best performance on the cross-speaker emotion transfer task, indicating that our method achieves the new state-of-the-art performance on learning the speaker-irrelevant emotion embedding. Furthermore, the strength ranking test and pitch trajectories plots demonstrate that the proposed method can effectively control the emotion strength, leading to prosody-diverse synthetic speech.
Recovering individual emotional states from sparse ratings using collaborative filtering
Venue: arXiv cs.IR 2022
Year: 2022

A fundamental challenge in emotion research is measuring feeling states with high granularity and temporal precision without disrupting the emotion generation process. Here we introduce and validate a new approach in which responses are sparsely sampled and the missing data are recovered using a computational technique known as collaborative filtering (CF). This approach leverages structured covariation across individual experiences and is available in Neighbors, an open-source Python toolbox. We validate our approach across three different experimental contexts by recovering dense individual ratings using only a small subset of the original data. In dataset 1, participants (n=316) separately rated 112 emotional images on 6 different discrete emotions. In dataset 2, participants (n=203) watched 8 short emotionally engaging autobiographical stories while simultaneously providing moment-by-moment ratings of the intensity of their affective experience. In dataset 3, participants (n=60) with distinct social preferences made 76 decisions about how much money to return in a hidden multiplier trust game. Across all experimental contexts, CF was able to accurately recover missing data and importantly outperformed mean imputation, particularly in contexts with greater individual variability. This approach will enable new avenues for affective science research by allowing researchers to acquire high dimensional ratings from emotional experiences with minimal disruption to the emotion-generation process.
CORNET 2.0: A Co-Simulation Middleware for Robot Networks
Venue: arXiv cs.RO 2022
Year: 2022

We present a networked co-simulation framework for multi-robot systems applications. We require a simulation framework that captures both physical interactions and communications aspects to effectively design such complex systems. This is necessary to co-design the multi-robots' autonomy logic and the communication protocols. The proposed framework extends existing tools to simulate the robot's autonomy and network-related aspects. We have used Gazebo with ROS/ROS2 to develop the autonomy logic for robots and mininet-WiFi as the network simulator to capture the cyber-physical systems properties of the multi-robot system. This framework addresses the need to seamlessly integrate the two simulation environments by synchronizing mobility and time, allowing for easy migration of the algorithms to real platforms. The framework supports container-based virtualization and extends a generic robotic framework by decoupling the data plane and control plane.