The path planning problems arising in manipulation planning and in task and motion planning settings are typically repetitive: the same manipulator moves in a space that only changes slightly. Despite this potential for reuse of information, few planners fully exploit the available information. To better enable this reuse, we decompose the collision checking into reusable, and non-reusable parts. We then treat the sequences of path planning problems in manipulation planning as a multiquery path planning problem. This allows the usage of planners that actively minimize planning effort over multiple queries, and by doing so, actively reuse previous knowledge. We implement this approach in EIRM* and effort ordered LazyPRM*, and benchmark it on multiple simulated robotic examples. Further, we show that the approach of decomposing collision checks additionally enables the reuse of the gained knowledge over multiple different instances of the same problem, i.e., in a multiquery manipulation planning scenario. The planners using the decomposed collision checking outperform the other planners in initial solution time by up to a factor of two while providing a similar solution quality.
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The paper analyses properties of a large class of "path-based" Data Envelopment Analysis models through a unifying general scheme. The scheme includes the well-known oriented radial models, the hyperbolic distance function model, the directional distance function models, and even permits their generalisations. The modelling is not constrained to non-negative data and is flexible enough to accommodate variants of standard models over arbitrary data. Mathematical tools developed in the paper allow systematic analysis of the models from the point of view of ten desirable properties. It is shown that some of the properties are satisfied (resp., fail) for all models in the general scheme, while others have a more nuanced behaviour and must be assessed individually in each model. Our results can help researchers and practitioners navigate among the different models and apply the models to mixed data.
Face clustering can provide pseudo-labels to the massive unlabeled face data and improve the performance of different face recognition models. The existing clustering methods generally aggregate the features within subgraphs that are often implemented based on a uniform threshold or a learned cutoff position. This may reduce the recall of subgraphs and hence degrade the clustering performance. This work proposed an efficient neighborhood-aware subgraph adjustment method that can significantly reduce the noise and improve the recall of the subgraphs, and hence can drive the distant nodes to converge towards the same centers. More specifically, the proposed method consists of two components, i.e. face embeddings enhancement using the embeddings from neighbors, and enclosed subgraph construction of node pairs for structural information extraction. The embeddings are combined to predict the linkage probabilities for all node pairs to replace the cosine similarities to produce new subgraphs that can be further used for aggregation of GCNs or other clustering methods. The proposed method is validated through extensive experiments against a range of clustering solutions using three benchmark datasets and numerical results confirm that it outperforms the SOTA solutions in terms of generalization capability.
Multiquery planning algorithms find paths between various different starts and goals in a single search space. They are designed to do so efficiently by reusing information across planning queries. This information may be computed before or during the search and often includes knowledge of valid paths. Using known valid paths to solve an individual planning query takes less computational effort than finding a completely new solution. This allows multiquery algorithms, such as PRM*, to outperform single-query algorithms, such as RRT*, on many problems but their relative performance depends on how much information is reused. Despite this, few multiquery planners explicitly seek to maximize path reuse and, as a result, many do not consistently outperform single-query alternatives. This paper presents Effort Informed Roadmaps (EIRM*), an almost-surely asymptotically optimal multiquery planning algorithm that explicitly prioritizes reusing computational effort. EIRM* uses an asymmetric bidirectional search to identify existing paths that may help solve an individual planning query and then uses this information to order its search and reduce computational effort. This allows it to find initial solutions up to an order-of-magnitude faster than state-of-the-art planning algorithms on the tested abstract and robotic multiquery planning problems.
In large-scale systems there are fundamental challenges when centralised techniques are used for task allocation. The number of interactions is limited by resource constraints such as on computation, storage, and network communication. We can increase scalability by implementing the system as a distributed task-allocation system, sharing tasks across many agents. However, this also increases the resource cost of communications and synchronisation, and is difficult to scale. In this paper we present four algorithms to solve these problems. The combination of these algorithms enable each agent to improve their task allocation strategy through reinforcement learning, while changing how much they explore the system in response to how optimal they believe their current strategy is, given their past experience. We focus on distributed agent systems where the agents' behaviours are constrained by resource usage limits, limiting agents to local rather than system-wide knowledge. We evaluate these algorithms in a simulated environment where agents are given a task composed of multiple subtasks that must be allocated to other agents with differing capabilities, to then carry out those tasks. We also simulate real-life system effects such as networking instability. Our solution is shown to solve the task allocation problem to 6.7% of the theoretical optimal within the system configurations considered. It provides 5x better performance recovery over no-knowledge retention approaches when system connectivity is impacted, and is tested against systems up to 100 agents with less than a 9% impact on the algorithms' performance.
Recently, graph neural networks (GNNs) have been widely used for document classification. However, most existing methods are based on static word co-occurrence graphs without sentence-level information, which poses three challenges:(1) word ambiguity, (2) word synonymity, and (3) dynamic contextual dependency. To address these challenges, we propose a novel GNN-based sparse structure learning model for inductive document classification. Specifically, a document-level graph is initially generated by a disjoint union of sentence-level word co-occurrence graphs. Our model collects a set of trainable edges connecting disjoint words between sentences and employs structure learning to sparsely select edges with dynamic contextual dependencies. Graphs with sparse structures can jointly exploit local and global contextual information in documents through GNNs. For inductive learning, the refined document graph is further fed into a general readout function for graph-level classification and optimization in an end-to-end manner. Extensive experiments on several real-world datasets demonstrate that the proposed model outperforms most state-of-the-art results, and reveal the necessity to learn sparse structures for each document.
The recent GPT-3 model (Brown et al., 2020) achieves remarkable few-shot performance solely by leveraging a natural-language prompt and a few task demonstrations as input context. Inspired by their findings, we study few-shot learning in a more practical scenario, where we use smaller language models for which fine-tuning is computationally efficient. We present LM-BFF--better few-shot fine-tuning of language models--a suite of simple and complementary techniques for fine-tuning language models on a small number of annotated examples. Our approach includes (1) prompt-based fine-tuning together with a novel pipeline for automating prompt generation; and (2) a refined strategy for dynamically and selectively incorporating demonstrations into each context. Finally, we present a systematic evaluation for analyzing few-shot performance on a range of NLP tasks, including classification and regression. Our experiments demonstrate that our methods combine to dramatically outperform standard fine-tuning procedures in this low resource setting, achieving up to 30% absolute improvement, and 11% on average across all tasks. Our approach makes minimal assumptions on task resources and domain expertise, and hence constitutes a strong task-agnostic method for few-shot learning.
Seamlessly interacting with humans or robots is hard because these agents are non-stationary. They update their policy in response to the ego agent's behavior, and the ego agent must anticipate these changes to co-adapt. Inspired by humans, we recognize that robots do not need to explicitly model every low-level action another agent will make; instead, we can capture the latent strategy of other agents through high-level representations. We propose a reinforcement learning-based framework for learning latent representations of an agent's policy, where the ego agent identifies the relationship between its behavior and the other agent's future strategy. The ego agent then leverages these latent dynamics to influence the other agent, purposely guiding them towards policies suitable for co-adaptation. Across several simulated domains and a real-world air hockey game, our approach outperforms the alternatives and learns to influence the other agent.
Clustering is one of the most fundamental and wide-spread techniques in exploratory data analysis. Yet, the basic approach to clustering has not really changed: a practitioner hand-picks a task-specific clustering loss to optimize and fit the given data to reveal the underlying cluster structure. Some types of losses---such as k-means, or its non-linear version: kernelized k-means (centroid based), and DBSCAN (density based)---are popular choices due to their good empirical performance on a range of applications. Although every so often the clustering output using these standard losses fails to reveal the underlying structure, and the practitioner has to custom-design their own variation. In this work we take an intrinsically different approach to clustering: rather than fitting a dataset to a specific clustering loss, we train a recurrent model that learns how to cluster. The model uses as training pairs examples of datasets (as input) and its corresponding cluster identities (as output). By providing multiple types of training datasets as inputs, our model has the ability to generalize well on unseen datasets (new clustering tasks). Our experiments reveal that by training on simple synthetically generated datasets or on existing real datasets, we can achieve better clustering performance on unseen real-world datasets when compared with standard benchmark clustering techniques. Our meta clustering model works well even for small datasets where the usual deep learning models tend to perform worse.
Retrieving object instances among cluttered scenes efficiently requires compact yet comprehensive regional image representations. Intuitively, object semantics can help build the index that focuses on the most relevant regions. However, due to the lack of bounding-box datasets for objects of interest among retrieval benchmarks, most recent work on regional representations has focused on either uniform or class-agnostic region selection. In this paper, we first fill the void by providing a new dataset of landmark bounding boxes, based on the Google Landmarks dataset, that includes $94k$ images with manually curated boxes from $15k$ unique landmarks. Then, we demonstrate how a trained landmark detector, using our new dataset, can be leveraged to index image regions and improve retrieval accuracy while being much more efficient than existing regional methods. In addition, we further introduce a novel regional aggregated selective match kernel (R-ASMK) to effectively combine information from detected regions into an improved holistic image representation. R-ASMK boosts image retrieval accuracy substantially at no additional memory cost, while even outperforming systems that index image regions independently. Our complete image retrieval system improves upon the previous state-of-the-art by significant margins on the Revisited Oxford and Paris datasets. Code and data will be released.
Object detection is an important and challenging problem in computer vision. Although the past decade has witnessed major advances in object detection in natural scenes, such successes have been slow to aerial imagery, not only because of the huge variation in the scale, orientation and shape of the object instances on the earth's surface, but also due to the scarcity of well-annotated datasets of objects in aerial scenes. To advance object detection research in Earth Vision, also known as Earth Observation and Remote Sensing, we introduce a large-scale Dataset for Object deTection in Aerial images (DOTA). To this end, we collect $2806$ aerial images from different sensors and platforms. Each image is of the size about 4000-by-4000 pixels and contains objects exhibiting a wide variety of scales, orientations, and shapes. These DOTA images are then annotated by experts in aerial image interpretation using $15$ common object categories. The fully annotated DOTA images contains $188,282$ instances, each of which is labeled by an arbitrary (8 d.o.f.) quadrilateral To build a baseline for object detection in Earth Vision, we evaluate state-of-the-art object detection algorithms on DOTA. Experiments demonstrate that DOTA well represents real Earth Vision applications and are quite challenging.
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