Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as imitation learning, have been used to address deformable material manipulation. These approaches lack generality and often suffer critical failure from a simple switch of material, geometric, and/or environmental (e.g., friction) properties. This article tackles a fundamental but difficult deformable manipulation task: forming a predefined fold in paper with only a single manipulator. A data-driven framework combining physically-accurate simulation and machine learning is used to train a deep neural network capable of predicting the external forces induced on the manipulated paper given a grasp position. We frame the problem using scaling analysis, resulting in a control framework robust against material and geometric changes. Path planning is then carried out over the generated "neural force manifold" to produce robot manipulation trajectories optimized to prevent sliding, with offline trajectory generation finishing 15$\times$ faster than previous physics-based folding methods. The inference speed of the trained model enables the incorporation of real-time visual feedback to achieve closed-loop sensorimotor control. Real-world experiments demonstrate that our framework can greatly improve robotic manipulation performance compared to state-of-the-art folding strategies, even when manipulating paper objects of various materials and shapes.
相關內容
We consider the problem of optimal unsignalized intersection management for continual streams of randomly arriving robots. This problem involves repeatedly solving different instances of a mixed integer program, for which the computation time using a naive optimization algorithm scales exponentially with the number of robots and lanes. Hence, such an approach is not suitable for real-time implementation. In this paper, we propose a solution framework that combines learning and sequential optimization. In particular, we propose an algorithm for learning a shared policy that given the traffic state information, determines the crossing order of the robots. Then, we optimize the trajectories of the robots sequentially according to that crossing order. This approach inherently guarantees safety at all times. We validate the performance of this approach using extensive simulations. Our approach, on average, significantly outperforms the heuristics from the literature. We also show through simulations that the computation time for our approach scales linearly with the number of robots. We further implement the learnt policies on physical robots with a few modifications to the solution framework to address real-world challenges and establish its real-time implementability.
Rule learning approaches for knowledge graph completion are efficient, interpretable and competitive to purely neural models. The rule aggregation problem is concerned with finding one plausibility score for a candidate fact which was simultaneously predicted by multiple rules. Although the problem is ubiquitous, as data-driven rule learning can result in noisy and large rulesets, it is underrepresented in the literature and its theoretical foundations have not been studied before in this context. In this work, we demonstrate that existing aggregation approaches can be expressed as marginal inference operations over the predicting rules. In particular, we show that the common Max-aggregation strategy, which scores candidates based on the rule with the highest confidence, has a probabilistic interpretation. Finally, we propose an efficient and overlooked baseline which combines the previous strategies and is competitive to computationally more expensive approaches.
Information presented in Wikipedia articles must be attributable to reliable published sources in the form of references. This study examines over 5 million Wikipedia articles to assess the reliability of references in multiple language editions. We quantify the cross-lingual patterns of the perennial sources list, a collection of reliability labels for web domains identified and collaboratively agreed upon by Wikipedia editors. We discover that some sources (or web domains) deemed untrustworthy in one language (i.e., English) continue to appear in articles in other languages. This trend is especially evident with sources tailored for smaller communities. Furthermore, non-authoritative sources found in the English version of a page tend to persist in other language versions of that page. We finally present a case study on the Chinese, Russian, and Swedish Wikipedias to demonstrate a discrepancy in reference reliability across cultures. Our finding highlights future challenges in coordinating global knowledge on source reliability.
Speech emotion recognition is an important component of any human centered system. But speech characteristics produced and perceived by a person can be influenced by a multitude of reasons, both desirable such as emotion, and undesirable such as noise. To train robust emotion recognition models, we need a large, yet realistic data distribution, but emotion datasets are often small and hence are augmented with noise. Often noise augmentation makes one important assumption, that the prediction label should remain the same in presence or absence of noise, which is true for automatic speech recognition but not necessarily true for perception based tasks. In this paper we make three novel contributions. We validate through crowdsourcing that the presence of noise does change the annotation label and hence may alter the original ground truth label. We then show how disregarding this knowledge and assuming consistency in ground truth labels propagates to downstream evaluation of ML models, both for performance evaluation and robustness testing. We end the paper with a set of recommendations for noise augmentations in speech emotion recognition datasets.
Ever since the emergence of large language models (LLMs) and related applications, such as ChatGPT, its performance and error analysis for programming tasks have been subject to research. In this work-in-progress paper, we explore the potential of such LLMs for computing educators and learners, as we analyze the feedback it generates to a given input containing program code. In particular, we aim at (1) exploring how an LLM like ChatGPT responds to students seeking help with their introductory programming tasks, and (2) identifying feedback types in its responses. To achieve these goals, we used students' programming sequences from a dataset gathered within a CS1 course as input for ChatGPT along with questions required to elicit feedback and correct solutions. The results show that ChatGPT performs reasonably well for some of the introductory programming tasks and student errors, which means that students can potentially benefit. However, educators should provide guidance on how to use the provided feedback, as it can contain misleading information for novices.
Home automation for many years had faced challenges that limit its spreading around the world. These challenges caused by the high cost of Own such a home, inflexibility system (cannot be monitored outside the home) and issues to achieve optimal security. Our main objective is to design and implement a smart home model that is simple, affordable to the users. The proposed system provide flexibility to monitor the home, using the reliable cellular network. The user will be able what is inside the home when he /she is away from home. In addition to that, our model overcome the issue of the security by providing different sensors that detects smoke, gas, leakage of water and incases of burglary. Moreover, a camera will be available in the home to give a full view for the user when he/she is outside the home. The user will be informed by an application on his/she phone incase if there is a fire, water leakage and if someone break into the house. This will give the user a chance to take an action if such cases happened. Furthermore, the user can monitor the lighting system of the home, by giving the user a chance to turn the lights on and off remotely.
In energy-efficient schemes, finding the optimal size of deep learning models is very important and has a broad impact. Meanwhile, recent studies have reported an unexpected phenomenon, the sparse double descent: as the model's sparsity increases, the performance first worsens, then improves, and finally deteriorates. Such a non-monotonic behavior raises serious questions about the optimal model's size to maintain high performance: the model needs to be sufficiently over-parametrized, but having too many parameters wastes training resources. In this paper, we aim to find the best trade-off efficiently. More precisely, we tackle the occurrence of the sparse double descent and present some solutions to avoid it. Firstly, we show that a simple $\ell_2$ regularization method can help to mitigate this phenomenon but sacrifices the performance/sparsity compromise. To overcome this problem, we then introduce a learning scheme in which distilling knowledge regularizes the student model. Supported by experimental results achieved using typical image classification setups, we show that this approach leads to the avoidance of such a phenomenon.
Score-based and diffusion models have emerged as effective approaches for both conditional and unconditional generation. Still conditional generation is based on either a specific training of a conditional model or classifier guidance, which requires training a noise-dependent classifier, even when the classifier for uncorrupted data is given. We propose an approach to sample from unconditional score-based generative models enforcing arbitrary logical constraints, without any additional training. Firstly, we show how to manipulate the learned score in order to sample from an un-normalized distribution conditional on a user-defined constraint. Then, we define a flexible and numerically stable neuro-symbolic framework for encoding soft logical constraints. Combining these two ingredients we obtain a general, but approximate, conditional sampling algorithm. We further developed effective heuristics aimed at improving the approximation. Finally, we show the effectiveness of our approach for various types of constraints and data: tabular data, images and time series.
As artificial intelligence (AI) models continue to scale up, they are becoming more capable and integrated into various forms of decision-making systems. For models involved in moral decision-making, also known as artificial moral agents (AMA), interpretability provides a way to trust and understand the agent's internal reasoning mechanisms for effective use and error correction. In this paper, we provide an overview of this rapidly-evolving sub-field of AI interpretability, introduce the concept of the Minimum Level of Interpretability (MLI) and recommend an MLI for various types of agents, to aid their safe deployment in real-world settings.
Human-in-the-loop aims to train an accurate prediction model with minimum cost by integrating human knowledge and experience. Humans can provide training data for machine learning applications and directly accomplish some tasks that are hard for computers in the pipeline with the help of machine-based approaches. In this paper, we survey existing works on human-in-the-loop from a data perspective and classify them into three categories with a progressive relationship: (1) the work of improving model performance from data processing, (2) the work of improving model performance through interventional model training, and (3) the design of the system independent human-in-the-loop. Using the above categorization, we summarize major approaches in the field, along with their technical strengths/ weaknesses, we have simple classification and discussion in natural language processing, computer vision, and others. Besides, we provide some open challenges and opportunities. This survey intends to provide a high-level summarization for human-in-the-loop and motivates interested readers to consider approaches for designing effective human-in-the-loop solutions.
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191