Model-based control is preferred for robotics applications due to its systematic approach to linearize and control the robot's nonlinear dynamics. The fundamental challenge involved in implementing a model-based controller for robotics applications is the time delay associated with the real-time computation of the robot dynamics. Due to the sequential structure of the robot's dynamic equation of motion, the multicore CPU cannot reduce the control algorithm execution time. A high-speed processor is required to maintain a higher sampling rate. Neural network-based modeling offers an excellent solution for developing a parallel structured equivalent model of the sequential model that is suitable for parallel processing. In this paper, a Deep neural network-based parallel structured 7 degrees of freedom human lower extremity exoskeleton robot controller is developed. Forty-nine densely connected neurons are arranged in four layers to estimate joint torque requirements for tracking trajectories. For training, the deep neural network, an analytical model-based data generation technique is presented. A trained deep neural network is used for real-time joint torque prediction and a PD controller is incorporated to mitigate the prediction errors. Simulation results show high trajectory tracking performances. The developed controller's stability analysis is proved. The robustness of the controller against the parameter variation is analyzed with the help of the analysis of variance (ANOVA). A comparative study between the developed controller and the Computed Torque Controller, Model Reference Computed Torque Controller, Sliding Mode Controller, Adaptive controller, and Linear Quadratic Regulator are presented while keeping the same robot dynamics.
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Automatic scam-baiting is an online fraud countermeasure that involves automated systems responding to online fraudsters in order to waste their time and deplete their resources, diverting attackers away from real potential victims. Previous work has demonstrated that text generation systems are capable of engaging with attackers as automatic scam-baiters, but the fluency and coherence of generated text may be a limit to the effectiveness of such systems. In this paper, we report on the results of a month-long experiment comparing the effectiveness of two ChatGPT-based automatic scam-baiters to a control measure. Within our results, with engagement from over 250 real email fraudsters, we find that ChatGPT-based scam-baiters show a marked increase in scammer response rate and conversation length relative to the control measure, outperforming previous approaches. We discuss the implications of these results and practical considerations for wider deployment of automatic scam-baiting.
A Visual Interpretation-Based Self-Improved Classification System Using Virtual Adversarial Training
The successful application of large pre-trained models such as BERT in natural language processing has attracted more attention from researchers. Since the BERT typically acts as an end-to-end black box, classification systems based on it usually have difficulty in interpretation and low robustness. This paper proposes a visual interpretation-based self-improving classification model with a combination of virtual adversarial training (VAT) and BERT models to address the above problems. Specifically, a fine-tuned BERT model is used as a classifier to classify the sentiment of the text. Then, the predicted sentiment classification labels are used as part of the input of another BERT for spam classification via a semi-supervised training manner using VAT. Additionally, visualization techniques, including visualizing the importance of words and normalizing the attention head matrix, are employed to analyze the relevance of each component to classification accuracy. Moreover, brand-new features will be found in the visual analysis, and classification performance will be improved. Experimental results on Twitter's tweet dataset demonstrate the effectiveness of the proposed model on the classification task. Furthermore, the ablation study results illustrate the effect of different components of the proposed model on the classification results.
This paper introduces an approach for learning to solve continuous constraint satisfaction problems (CCSP) in robotic reasoning and planning. Previous methods primarily rely on hand-engineering or learning generators for specific constraint types and then rejecting the value assignments when other constraints are violated. By contrast, our model, the compositional diffusion continuous constraint solver (Diffusion-CCSP) derives global solutions to CCSPs by representing them as factor graphs and combining the energies of diffusion models trained to sample for individual constraint types. Diffusion-CCSP exhibits strong generalization to novel combinations of known constraints, and it can be integrated into a task and motion planner to devise long-horizon plans that include actions with both discrete and continuous parameters. Project site: //diffusion-ccsp.github.io/
Bilevel programming has recently received attention in the literature, due to its wide range of applications, including reinforcement learning and hyper-parameter optimization. However, it is widely assumed that the underlying bilevel optimization problem is solved either by a single machine or in the case of multiple machines connected in a star-shaped network, i.e., federated learning setting. The latter approach suffers from a high communication cost on the central node (e.g., parameter server) and exhibits privacy vulnerabilities. Hence, it is of interest to develop methods that solve bilevel optimization problems in a communication-efficient decentralized manner. To that end, this paper introduces a penalty function based decentralized algorithm with theoretical guarantees for this class of optimization problems. Specifically, a distributed alternating gradient-type algorithm for solving consensus bilevel programming over a decentralized network is developed. A key feature of the proposed algorithm is to estimate the hyper-gradient of the penalty function via decentralized computation of matrix-vector products and few vector communications, which is then integrated within an alternating algorithm to obtain finite-time convergence analysis under different convexity assumptions. Our theoretical result highlights improvements in the iteration complexity of decentralized bilevel optimization, all while making efficient use of vector communication. Empirical results on both synthetic and real datasets demonstrate that the proposed method performs well in real-world settings.
Blockchain technology is developing using in reliable applications which can be designed to achieve decentralization and trustless. Based on the open network innovation theory, this paper proposes a technical intermediary management idea based on blockchain technology to improve the efficiency of technology intermediaries, providing accurate, reliable information and cutting cost for the market. This study demonstrates the advantage of blockchain to technology intermediaries. First, on a specific level, it can provide openness, transparency, decentralization and anonymity services. Second, the current industrial innovation elements are analyzed. blockchain improve the efficiency of technology intermediary, prevent risks and to make up for the shortcomings of traditional intermediaries. It has revolutionized the traditional technology intermediary. As this happens, it can revolutionize traditional technology intermediaries.
The development of autonomous agents which can interact with other agents to accomplish a given task is a core area of research in artificial intelligence and machine learning. Towards this goal, the Autonomous Agents Research Group develops novel machine learning algorithms for autonomous systems control, with a specific focus on deep reinforcement learning and multi-agent reinforcement learning. Research problems include scalable learning of coordinated agent policies and inter-agent communication; reasoning about the behaviours, goals, and composition of other agents from limited observations; and sample-efficient learning based on intrinsic motivation, curriculum learning, causal inference, and representation learning. This article provides a broad overview of the ongoing research portfolio of the group and discusses open problems for future directions.
Federated Learning (FL) is a decentralized machine-learning paradigm, in which a global server iteratively averages the model parameters of local users without accessing their data. User heterogeneity has imposed significant challenges to FL, which can incur drifted global models that are slow to converge. Knowledge Distillation has recently emerged to tackle this issue, by refining the server model using aggregated knowledge from heterogeneous users, other than directly averaging their model parameters. This approach, however, depends on a proxy dataset, making it impractical unless such a prerequisite is satisfied. Moreover, the ensemble knowledge is not fully utilized to guide local model learning, which may in turn affect the quality of the aggregated model. Inspired by the prior art, we propose a data-free knowledge distillation} approach to address heterogeneous FL, where the server learns a lightweight generator to ensemble user information in a data-free manner, which is then broadcasted to users, regulating local training using the learned knowledge as an inductive bias. Empirical studies powered by theoretical implications show that, our approach facilitates FL with better generalization performance using fewer communication rounds, compared with the state-of-the-art.
Learning latent representations of nodes in graphs is an important and ubiquitous task with widespread applications such as link prediction, node classification, and graph visualization. Previous methods on graph representation learning mainly focus on static graphs, however, many real-world graphs are dynamic and evolve over time. In this paper, we present Dynamic Self-Attention Network (DySAT), a novel neural architecture that operates on dynamic graphs and learns node representations that capture both structural properties and temporal evolutionary patterns. Specifically, DySAT computes node representations by jointly employing self-attention layers along two dimensions: structural neighborhood and temporal dynamics. We conduct link prediction experiments on two classes of graphs: communication networks and bipartite rating networks. Our experimental results show that DySAT has a significant performance gain over several different state-of-the-art graph embedding baselines.
The low resolution of objects of interest in aerial images makes pedestrian detection and action detection extremely challenging tasks. Furthermore, using deep convolutional neural networks to process large images can be demanding in terms of computational requirements. In order to alleviate these challenges, we propose a two-step, yes and no question answering framework to find specific individuals doing one or multiple specific actions in aerial images. First, a deep object detector, Single Shot Multibox Detector (SSD), is used to generate object proposals from small aerial images. Second, another deep network, is used to learn a latent common sub-space which associates the high resolution aerial imagery and the pedestrian action labels that are provided by the human-based sources
Object detection is considered as one of the most challenging problems in computer vision, since it requires correct prediction of both classes and locations of objects in images. In this study, we define a more difficult scenario, namely zero-shot object detection (ZSD) where no visual training data is available for some of the target object classes. We present a novel approach to tackle this ZSD problem, where a convex combination of embeddings are used in conjunction with a detection framework. For evaluation of ZSD methods, we propose a simple dataset constructed from Fashion-MNIST images and also a custom zero-shot split for the Pascal VOC detection challenge. The experimental results suggest that our method yields promising results for ZSD.
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