In-Hand Object Rotation via Rapid Motor Adaptation

Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only fingertips. The controller is trained entirely in simulation on only cylindrical objects, which then - without any fine-tuning - can be directly deployed to a real robot hand to rotate dozens of objects with diverse sizes, shapes, and weights over the z-axis. This is achieved via rapid online adaptation of the controller to the object properties using only proprioception history. Furthermore, natural and stable finger gaits automatically emerge from training the control policy via reinforcement learning. Code and more videos are available at https://haozhi.io/hora

A Zero-Shot Adaptive Quadcopter Controller

This paper proposes a universal adaptive controller for quadcopters, which can be deployed zero-shot to quadcopters of very different mass, arm lengths and motor constants, and also shows rapid adaptation to unknown disturbances during runtime. The core algorithmic idea is to learn a single policy that can adapt online at test time not only to the disturbances applied to the drone, but also to the robot dynamics and hardware in the same framework. We achieve this by training a neural network to estimate a latent representation of the robot and environment parameters, which is used to condition the behaviour of the controller, also represented as a neural network. We train both networks exclusively in simulation with the goal of flying the quadcopters to goal positions and avoiding crashes to the ground. We directly deploy the same controller trained in the simulation without any modifications on two quadcopters with differences in mass, inertia, and maximum motor speed of up to 4 times. In addition, we show rapid adaptation to sudden and large disturbances (up to 35.7%) in the mass and inertia of the quadcopters. We perform an extensive evaluation in both simulation and the physical world, where we outperform a state-of-the-art learning-based adaptive controller and a traditional PID controller specifically tuned to each platform individually. Video results can be found at https://dz298.github.io/universal-drone-controller/.

ATP: A holistic attention integrated approach to enhance ABSA

Aspect based sentiment analysis (ABSA) deals with the identification of the sentiment polarity of a review sentence towards a given aspect. Deep Learning sequential models like RNN, LSTM, and GRU are current state-of-the-art methods for inferring the sentiment polarity. These methods work well to capture the contextual relationship between the words of a review sentence. However, these methods are insignificant in capturing long-term dependencies. Attention mechanism plays a significant role by focusing only on the most crucial part of the sentence. In the case of ABSA, aspect position plays a vital role. Words near to aspect contribute more while determining the sentiment towards the aspect. Therefore, we propose a method that captures the position based information using dependency parsing tree and helps attention mechanism. Using this type of position information over a simple word-distance-based position enhances the deep learning model's performance. We performed the experiments on SemEval'14 dataset to demonstrate the effect of dependency parsing relation-based attention for ABSA.

IterMiUnet: A lightweight architecture for automatic blood vessel segmentation

The automatic segmentation of blood vessels in fundus images can help analyze the condition of retinal vasculature, which is crucial for identifying various systemic diseases like hypertension, diabetes, etc. Despite the success of Deep Learning-based models in this segmentation task, most of them are heavily parametrized and thus have limited use in practical applications. This paper proposes IterMiUnet, a new lightweight convolution-based segmentation model that requires significantly fewer parameters and yet delivers performance similar to existing models. The model makes use of the excellent segmentation capabilities of Iternet architecture but overcomes its heavily parametrized nature by incorporating the encoder-decoder structure of MiUnet model within it. Thus, the new model reduces parameters without any compromise with the network's depth, which is necessary to learn abstract hierarchical concepts in deep models. This lightweight segmentation model speeds up training and inference time and is potentially helpful in the medical domain where data is scarce and, therefore, heavily parametrized models tend to overfit. The proposed model was evaluated on three publicly available datasets: DRIVE, STARE, and CHASE-DB1. Further cross-training and inter-rater variability evaluations have also been performed. The proposed model has a lot of potential to be utilized as a tool for the early diagnosis of many diseases.

An Open Source Interactive Visual Analytics Tool for Comparative Programming Comprehension

This paper proposes an open source visual analytics tool consisting of several views and perspectives on eye movement data collected during code reading tasks when writing computer programs. Hence the focus of this work is on code and program comprehension. The source code is shown as a visual stimulus. It can be inspected in combination with overlaid scanpaths in which the saccades can be visually encoded in several forms, including straight, curved, and orthogonal lines, modifiable by interaction techniques. The tool supports interaction techniques like filter functions, aggregations, data sampling, and many more. We illustrate the usefulness of our tool by applying it to the eye movements of 216 programmers of multiple expertise levels that were collected during two code comprehension tasks. Our tool helped to analyze the difference between the strategic program comprehension of programmers based on their demographic background, time taken to complete the task, choice of programming task, and expertise.

Adapting Rapid Motor Adaptation for Bipedal Robots

Recent advances in legged locomotion have enabled quadrupeds to walk on challenging terrains. However, bipedal robots are inherently more unstable and hence it's harder to design walking controllers for them. In this work, we leverage recent advances in rapid adaptation for locomotion control, and extend them to work on bipedal robots. Similar to existing works, we start with a base policy which produces actions while taking as input an estimated extrinsics vector from an adaptation module. This extrinsics vector contains information about the environment and enables the walking controller to rapidly adapt online. However, the extrinsics estimator could be imperfect, which might lead to poor performance of the base policy which expects a perfect estimator. In this paper, we propose A-RMA (Adapting RMA), which additionally adapts the base policy for the imperfect extrinsics estimator by finetuning it using model-free RL. We demonstrate that A-RMA outperforms a number of RL-based baseline controllers and model-based controllers in simulation, and show zero-shot deployment of a single A-RMA policy to enable a bipedal robot, Cassie, to walk in a variety of different scenarios in the real world beyond what it has seen during training. Videos and results at https://ashish-kmr.github.io/a-rma/

Fairness-aware Configuration of Machine Learning Libraries

This paper investigates the parameter space of machine learning (ML) algorithms in aggravating or mitigating fairness bugs. Data-driven software is increasingly applied in social-critical applications where ensuring fairness is of paramount importance. The existing approaches focus on addressing fairness bugs by either modifying the input dataset or modifying the learning algorithms. On the other hand, the selection of hyperparameters, which provide finer controls of ML algorithms, may enable a less intrusive approach to influence the fairness. Can hyperparameters amplify or suppress discrimination present in the input dataset? How can we help programmers in detecting, understanding, and exploiting the role of hyperparameters to improve the fairness? We design three search-based software testing algorithms to uncover the precision-fairness frontier of the hyperparameter space. We complement these algorithms with statistical debugging to explain the role of these parameters in improving fairness. We implement the proposed approaches in the tool Parfait-ML (PARameter FAIrness Testing for ML Libraries) and show its effectiveness and utility over five mature ML algorithms as used in six social-critical applications. In these applications, our approach successfully identified hyperparameters that significantly improve (vis-a-vis the state-of-the-art techniques) the fairness without sacrificing precision. Surprisingly, for some algorithms (e.g., random forest), our approach showed that certain configuration of hyperparameters (e.g., restricting the search space of attributes) can amplify biases across applications. Upon further investigation, we found intuitive explanations of these phenomena, and the results corroborate similar observations from the literature.

Coupling Vision and Proprioception for Navigation of Legged Robots

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 https://navigation-locomotion.github.io/camera-ready

THz Band Channel Measurements and Statistical Modeling for Urban Microcellular Environments

The THz band (0.1-10 THz) has attracted considerable attention for next-generation wireless communications, due to the large amount of available bandwidth that may be key to meet the rapidly increasing data rate requirements. Before deploying a system in this band, a detailed wireless channel analysis is required as the basis for proper design and testing of system implementations. One of the most important deployment scenarios of this band is the outdoor microcellular environment, where the Transmitter (Tx) and the Receiver (Rx) have a significant height difference (typically $ \ge 10$ m). In this paper, we present double-directional (i.e., directionally resolved at both link ends) channel measurements in such a microcellular scenario encompassing street canyons and an open square. Measurements are done for a 1 GHz bandwidth between 145-146 GHz and an antenna beamwidth of 13 degree; distances between Tx and Rx are up to 85 m and the Tx is at a height of 11.5 m from the ground. The measurements are analyzed to estimate path loss, shadowing, delay spread, angular spread, and multipath component (MPC) power distribution. These results allow the development of more realistic and detailed THz channel models and system performance assessment.

Generative Adversarial Network (GAN) and Enhanced Root Mean Square Error (ERMSE): Deep Learning for Stock Price Movement Prediction

The prediction of stock price movement direction is significant in financial circles and academic. Stock price contains complex, incomplete, and fuzzy information which makes it an extremely difficult task to predict its development trend. Predicting and analysing financial data is a nonlinear, time-dependent problem. With rapid development in machine learning and deep learning, this task can be performed more effectively by a purposely designed network. This paper aims to improve prediction accuracy and minimizing forecasting error loss through deep learning architecture by using Generative Adversarial Networks. It was proposed a generic model consisting of Phase-space Reconstruction (PSR) method for reconstructing price series and Generative Adversarial Network (GAN) which is a combination of two neural networks which are Long Short-Term Memory (LSTM) as Generative model and Convolutional Neural Network (CNN) as Discriminative model for adversarial training to forecast the stock market. LSTM will generate new instances based on historical basic indicators information and then CNN will estimate whether the data is predicted by LSTM or is real. It was found that the Generative Adversarial Network (GAN) has performed well on the enhanced root mean square error to LSTM, as it was 4.35% more accurate in predicting the direction and reduced processing time and RMSE by 78 secs and 0.029, respectively. This study provides a better result in the accuracy of the stock index. It seems that the proposed system concentrates on minimizing the root mean square error and processing time and improving the direction prediction accuracy, and provides a better result in the accuracy of the stock index.