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We exploit the complementary strengths of vision and proprioception to achieve point goal navigation in a legged robot. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully exploit this capability, we need the high-level path planner in the navigation system to be aware of the walking capabilities of the low-level locomotion policy on varying terrains. We achieve this by using proprioceptive feedback to estimate the safe operating limits of the walking policy, and to sense unexpected obstacles and terrain properties like smoothness or softness of the ground that may be missed by vision. The navigation system uses onboard cameras to generate an occupancy map and a corresponding cost map to reach the goal. The FMM (Fast Marching Method) planner then generates a target path. The velocity command generator takes this as input to generate the desired velocity for the locomotion policy using as input additional constraints, from the safety advisor, of unexpected obstacles and terrain determined speed limits. We show superior performance compared to wheeled robot (LoCoBot) baselines, and other baselines which have disjoint high-level planning and low-level control. We also show the real-world deployment of our system on a quadruped robot with onboard sensors and compute. Videos at //navigation-locomotion.github.io/camera-ready

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking {in a coordinated way} when the sampling time of communications is non-negligible, disrupting the theoretical convergence guarantees of standard control designs. Given a feasible desired trajectory in the configuration space, the proposed controller receives measurements from the system at sampled time instants and computes velocity references for the robots, which are tracked by a low-level controller. We propose a jointly designed feedback plus feedforward controller with provable stability and error convergence guarantees, and further show that the obtained controller is amenable of decentralized implementation. We test the proposed control strategy via numerical simulations in the scenario of cooperative aerial manipulation of a cable-suspended load using a realistic simulator (Fly-Crane). Finally, we compare our proposed decentralized controller with centralized approaches that adapt the feedback gain online through smart heuristics, and show that it achieves comparable performance.

The Robotics community has started to heavily rely on increasingly realistic 3D simulators for large-scale training of robots on massive amounts of data. But once robots are deployed in the real world, the simulation gap, as well as changes in the real world (e.g. lights, objects displacements) lead to errors. In this paper, we introduce Sim2RealViz, a visual analytics tool to assist experts in understanding and reducing this gap for robot ego-pose estimation tasks, i.e. the estimation of a robot's position using trained models. Sim2RealViz displays details of a given model and the performance of its instances in both simulation and real-world. Experts can identify environment differences that impact model predictions at a given location and explore through direct interactions with the model hypothesis to fix it. We detail the design of the tool, and case studies related to the exploit of the regression to the mean bias and how it can be addressed, and how models are perturbed by the vanish of landmarks such as bikes.

Integrated Sensing And Communication (ISAC)forms a symbiosis between the human need for communication and the need for increasing productivity, by extracting environmental information leveraging the communication network. As multiple sensory already create a perception of the environment, an investigation into the advantages of ISAC compare to such modalities is required. Therefore, we introduce MaxRay, an ISAC framework allowing to simulate communication, sensing, and additional sensory jointly. Emphasizing the challenges for creating such sensing networks, we introduce the required propagation properties for sensing and how they are leveraged. To compare the performance of the different sensing techniques, we analyze four commonly used metrics used in different fields and evaluate their advantages and disadvantages for sensing. We depict that a metric based on prominence is suitable to cover most algorithms. Further we highlight the requirement of clutter removal algorithms, using two standard clutter removal techniques to detect a target in a typical industrial scenario. In general a versatile framework, allowing to create automatically labeled datasets to investigate a large variety of tasks is demonstrated.

Recommender systems have been widely applied in different real-life scenarios to help us find useful information. Recently, Reinforcement Learning (RL) based recommender systems have become an emerging research topic. It often surpasses traditional recommendation models even most deep learning-based methods, owing to its interactive nature and autonomous learning ability. Nevertheless, there are various challenges of RL when applying in recommender systems. Toward this end, we firstly provide a thorough overview, comparisons, and summarization of RL approaches for five typical recommendation scenarios, following three main categories of RL: value-function, policy search, and Actor-Critic. Then, we systematically analyze the challenges and relevant solutions on the basis of existing literature. Finally, under discussion for open issues of RL and its limitations of recommendation, we highlight some potential research directions in this field.

Collaborative filtering (CF) is the key technique for recommender systems. Pure CF approaches exploit the user-item interaction data (e.g., clicks, likes, and views) only and suffer from the sparsity issue. Items are usually associated with content information such as unstructured text (e.g., abstracts of articles and reviews of products). CF can be extended to leverage text. In this paper, we develop a unified neural framework to exploit interaction data and content information seamlessly. The proposed framework, called LCMR, is based on memory networks and consists of local and centralized memories for exploiting content information and interaction data, respectively. By modeling content information as local memories, LCMR attentively learns what to exploit with the guidance of user-item interaction. On real-world datasets, LCMR shows better performance by comparing with various baselines in terms of the hit ratio and NDCG metrics. We further conduct analyses to understand how local and centralized memories work for the proposed framework.

The slate recommendation problem aims to find the "optimal" ordering of a subset of documents to be presented on a surface that we call "slate". The definition of "optimal" changes depending on the underlying applications but a typical goal is to maximize user engagement with the slate. Solving this problem at scale is hard due to the combinatorial explosion of documents to show and their display positions on the slate. In this paper, we introduce Slate Conditional Variational Auto-Encoders (Slate-CVAE) to generate optimal slates. To the best of our knowledge, this is the first conditional generative model that provides a unified framework for slate recommendation by direct generation. Slate-CVAE automatically takes into account the format of the slate and any biases that the representation causes, thus truly proposing the optimal slate. Additionally, to deal with large corpora of documents, we present a novel approach that uses pretrained document embeddings combined with a soft-nearest-neighbors layer within our CVAE model. Experiments show that on the simulated and real-world datasets, Slate-CVAE outperforms recommender systems that consists of greedily ranking documents by a significant margin while remaining scalable.

Recommender systems rely on large datasets of historical data and entail serious privacy risks. A server offering recommendations as a service to a client might leak more information than necessary regarding its recommendation model and training dataset. At the same time, the disclosure of the client's preferences to the server is also a matter of concern. Providing recommendations while preserving privacy in both senses is a difficult task, which often comes into conflict with the utility of the system in terms of its recommendation-accuracy and efficiency. Widely-purposed cryptographic primitives such as secure multi-party computation and homomorphic encryption offer strong security guarantees, but in conjunction with state-of-the-art recommender systems yield far-from-practical solutions. We precisely define the above notion of security and propose CryptoRec, a novel recommendations-as-a-service protocol, which encompasses a crypto-friendly recommender system. This model possesses two interesting properties: (1) It models user-item interactions in a user-free latent feature space in which it captures personalized user features by an aggregation of item features. This means that a server with a pre-trained model can provide recommendations for a client without having to re-train the model with the client's preferences. Nevertheless, re-training the model still improves accuracy. (2) It only uses addition and multiplication operations, making the model straightforwardly compatible with homomorphic encryption schemes.

Object tracking is one of the most challenging task and has secured significant attention of computer vision researchers in the past two decades. Recent deep learning based trackers have shown good performance on various tracking challenges. A tracking method should track objects in sequential frames accurately in challenges such as deformation, low resolution, occlusion, scale and light variations. Most trackers achieve good performance on specific challenges instead of all tracking problems, hence there is a lack of general purpose tracking algorithms that can perform well in all conditions. Moreover, performance of tracking techniques has not been evaluated in noisy environments. Visual object tracking has real world applications and there is good chance that noise may get added during image acquisition in surveillance cameras. We aim to study the robustness of two state of the art trackers in the presence of noise including Efficient Convolutional Operators (ECO) and Correlation Filter Network (CFNet). Our study demonstrates that the performance of these trackers degrades as the noise level increases, which demonstrate the need to design more robust tracking algorithms.

In this paper, we study the optimal convergence rate for distributed convex optimization problems in networks. We model the communication restrictions imposed by the network as a set of affine constraints and provide optimal complexity bounds for four different setups, namely: the function $F(\xb) \triangleq \sum_{i=1}^{m}f_i(\xb)$ is strongly convex and smooth, either strongly convex or smooth or just convex. Our results show that Nesterov's accelerated gradient descent on the dual problem can be executed in a distributed manner and obtains the same optimal rates as in the centralized version of the problem (up to constant or logarithmic factors) with an additional cost related to the spectral gap of the interaction matrix. Finally, we discuss some extensions to the proposed setup such as proximal friendly functions, time-varying graphs, improvement of the condition numbers.